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Autonomous manipulation systems operating in domains where human intervention is difficult or impossible (e.g., underwater, extraterrestrial or hazardous environments) require a high degree of robustness to sensing and communication failures. Crucially, motion planning and control algorithms require a stream of accurate joint angle data provided by joint encoders, the failure of which may result in an unrecoverable loss of functionality. In this paper, we present a novel method for retrieving the joint angles of a robot manipulator using only a single RGB image of its current configuration, opening up an avenue for recovering system functionality when conventional proprioceptive sensing is unavailable. Our approach, based on a distance-geometric representation of the configuration space, exploits the knowledge of a robot's kinematic model with the goal of training a shallow neural network that performs a 2D-to-3D regression of distances associated with detected structural keypoints. It is shown that the resulting Euclidean distance matrix uniquely corresponds to the observed configuration, where joint angles can be recovered via multidimensional scaling and a simple inverse kinematics procedure. We evaluate the performance of our approach on real RGB images of a Franka Emika Panda manipulator, showing that the proposed method is efficient and exhibits solid generalization ability. Furthermore, we show that our method can be easily combined with a dense refinement technique to obtain superior results.

The technical specification ISO/TS 15066 provides the foundational elements for assessing the safety of collaborative human-robot cells, which are the cornerstone of the modern industrial paradigm. The standard implementation of the ISO/TS 15066 procedure, however, often results in conservative motions of the robot, with consequently low performance of the cell. In this paper, we propose an energy tank-based approach that allows to directly satisfy the energetic bounds imposed by the ISO/TS 15066, thus avoiding the introduction of conservative modeling and assumptions. The proposed approach has been successfully validated in simulation.

Quasi-periodic responses composed of multiple base frequencies widely exist in science and engineering problems. The multiple harmonic balance (MHB) method is one of the most commonly used approaches for such problems. However, it is limited by low-order estimations due to complex symbolic operations in practical uses. Many variants have been developed to improve the MHB method, among which the time domain MHB-like methods are regarded as crucial improvements because of their high efficiency and simple derivation. But there is still one main drawback remaining to be addressed. The time domain MHB-like methods negatively suffer from non-physical solutions, which have been shown to be caused by aliasing (mixtures of the high-order into the low-order harmonics). Inspired by the collocation-based harmonic balancing framework recently established by our group, we herein propose a reconstruction multiple harmonic balance (RMHB) method to reconstruct the conventional MHB method using discrete time domain collocations. Our study shows that the relation between the MHB and time domain MHB-like methods is determined by an aliasing matrix, which is non-zero when aliasing occurs. On this basis, a conditional equivalence is established to form the RMHB method. Three numerical examples demonstrate that this new method is more robust and efficient than the state-of-the-art methods.

We present a system for anomaly detection in histopathological images. In histology, normal samples are usually abundant, whereas anomalous (pathological) cases are scarce or not available. Under such settings, one-class classifiers trained on healthy data can detect out-of-distribution anomalous samples. Such approaches combined with pre-trained Convolutional Neural Network (CNN) representations of images were previously employed for anomaly detection (AD). However, pre-trained off-the-shelf CNN representations may not be sensitive to abnormal conditions in tissues, while natural variations of healthy tissue may result in distant representations. To adapt representations to relevant details in healthy tissue we propose training a CNN on an auxiliary task that discriminates healthy tissue of different species, organs, and staining reagents. Almost no additional labeling workload is required, since healthy samples come automatically with aforementioned labels. During training we enforce compact image representations with a center-loss term, which further improves representations for AD. The proposed system outperforms established AD methods on a published dataset of liver anomalies. Moreover, it provided comparable results to conventional methods specifically tailored for quantification of liver anomalies. We show that our approach can be used for toxicity assessment of candidate drugs at early development stages and thereby may reduce expensive late-stage drug attrition.

In this work, we consider the numerical computation of ground states and dynamics of single-component Bose-Einstein condensates (BECs). The corresponding models are spatially discretized with a multiscale finite element approach known as Localized Orthogonal Decomposition (LOD). Despite the outstanding approximation properties of such a discretization in the context of BECs, taking full advantage of it without creating severe computational bottlenecks can be tricky. In this paper, we therefore present two fully-discrete numerical approaches that are formulated in such a way that they take special account of the structure of the LOD spaces. One approach is devoted to the computation of ground states and another one for the computation of dynamics. A central focus of this paper is also the discussion of implementation aspects that are very important for the practical realization of the methods. In particular, we discuss the use of suitable data structures that keep the memory costs economical. The paper concludes with various numerical experiments in 1d, 2d and 3d that investigate convergence rates and approximation properties of the methods and which demonstrate their performance and computational efficiency, also in comparison to spectral and standard finite element approaches.

Recent approaches to causal inference have focused on causal effects defined as contrasts between the distribution of counterfactual outcomes under hypothetical interventions on the nodes of a graphical model. In this article we develop theory for causal effects defined with respect to a different type of intervention, one which alters the information propagated through the edges of the graph. These information transfer interventions may be more useful than node interventions in settings in which causes are non-manipulable, for example when considering race or genetics as a causal agent. Furthermore, information transfer interventions allow us to define path-specific decompositions which are identified in the presence of treatment-induced mediator-outcome confounding, a practical problem whose general solution remains elusive. We prove that the proposed effects provide valid statistical tests of mechanisms, unlike popular methods based on randomized interventions on the mediator. We propose efficient non-parametric estimators for a covariance version of the proposed effects, using data-adaptive regression coupled with semi-parametric efficiency theory to address model misspecification bias while retaining $\sqrt{n}$-consistency and asymptotic normality. We illustrate the use of our methods in two examples using publicly available data.

The current state-of-the-art in multi-objective optimization assumes either a given utility function, learns a utility function interactively or tries to determine the complete Pareto front, requiring a post elicitation of the preferred result. However, result elicitation in real world problems is often based on implicit and explicit expert knowledge, making it difficult to define a utility function, whereas interactive learning or post elicitation requires repeated and expensive expert involvement. To mitigate this, we learn a utility function offline, using expert knowledge by means of preference learning. In contrast to other works, we do not only use (pairwise) result preferences, but also coarse information about the utility function space. This enables us to improve the utility function estimate, especially when using very few results. Additionally, we model the occurring uncertainties in the utility function learning task and propagate them through the whole optimization chain. Our method to learn a utility function eliminates the need of repeated expert involvement while still leading to high-quality results. We show the sample efficiency and quality gains of the proposed method in 4 domains, especially in cases where the surrogate utility function is not able to exactly capture the true expert utility function. We also show that to obtain good results, it is important to consider the induced uncertainties and analyze the effect of biased samples, which is a common problem in real world domains.

This paper concerns the efficient implementation of a method for optimal binary labeling of graph vertices, originally proposed by Malmberg and Ciesielski (2020). This method finds, in quadratic time with respect to graph size, a labeling that globally minimizes an objective function based on the $L_\infty$-norm. The method enables global optimization for a novel class of optimization problems, with high relevance in application areas such as image processing and computer vision. In the original formulation, the Malmberg-Ciesielski algorithm is unfortunately very computationally expensive, limiting its utility in practical applications. Here, we present a modified version of the algorithm that exploits redundancies in the original method to reduce computation time. While our proposed method has the same theoretical asymptotic time complexity, we demonstrate that is substantially more efficient in practice. Even for small problems, we observe a speedup of 4-5 orders of magnitude. This reduction in computation time makes the Malmberg-Ciesielski method a viable option for many practical applications.

Unsupervised domain adaptation has recently emerged as an effective paradigm for generalizing deep neural networks to new target domains. However, there is still enormous potential to be tapped to reach the fully supervised performance. In this paper, we present a novel active learning strategy to assist knowledge transfer in the target domain, dubbed active domain adaptation. We start from an observation that energy-based models exhibit free energy biases when training (source) and test (target) data come from different distributions. Inspired by this inherent mechanism, we empirically reveal that a simple yet efficient energy-based sampling strategy sheds light on selecting the most valuable target samples than existing approaches requiring particular architectures or computation of the distances. Our algorithm, Energy-based Active Domain Adaptation (EADA), queries groups of targe data that incorporate both domain characteristic and instance uncertainty into every selection round. Meanwhile, by aligning the free energy of target data compact around the source domain via a regularization term, domain gap can be implicitly diminished. Through extensive experiments, we show that EADA surpasses state-of-the-art methods on well-known challenging benchmarks with substantial improvements, making it a useful option in the open world. Code is available at //github.com/BIT-DA/EADA.

Causal inference is a critical research topic across many domains, such as statistics, computer science, education, public policy and economics, for decades. Nowadays, estimating causal effect from observational data has become an appealing research direction owing to the large amount of available data and low budget requirement, compared with randomized controlled trials. Embraced with the rapidly developed machine learning area, various causal effect estimation methods for observational data have sprung up. In this survey, we provide a comprehensive review of causal inference methods under the potential outcome framework, one of the well known causal inference framework. The methods are divided into two categories depending on whether they require all three assumptions of the potential outcome framework or not. For each category, both the traditional statistical methods and the recent machine learning enhanced methods are discussed and compared. The plausible applications of these methods are also presented, including the applications in advertising, recommendation, medicine and so on. Moreover, the commonly used benchmark datasets as well as the open-source codes are also summarized, which facilitate researchers and practitioners to explore, evaluate and apply the causal inference methods.