Avocado Price Prediction Using a Hybrid Deep Learning Model: TCN-MLP-Attention Architecture

With the growing demand for healthy foods, agricultural product price forecasting has become increasingly important. Hass avocados, as a high-value crop, exhibit complex price fluctuations influenced by factors such as seasonality, region, and weather. Traditional prediction models often struggle with highly nonlinear and dynamic data. To address this, we propose a hybrid deep learning model, TCN-MLP-Attention Architecture, combining Temporal Convolutional Networks (TCN) for sequential feature extraction, Multi-Layer Perceptrons (MLP) for nonlinear interactions, and an Attention mechanism for dynamic feature weighting. The dataset used covers over 50,000 records of Hass avocado sales across the U.S. from 2015 to 2018, including variables such as sales volume, average price, time, region, weather, and variety type, collected from point-of-sale systems and the Hass Avocado Board. After systematic preprocessing, including missing value imputation and feature normalization, the proposed model was trained and evaluated. Experimental results demonstrate that the TCN-MLP-Attention model achieves excellent predictive performance, with an RMSE of 1.23 and an MSE of 1.51, outperforming traditional methods. This research provides a scalable and effective approach for time series forecasting in agricultural markets and offers valuable insights for intelligent supply chain management and price strategy optimization.

Adaptive Model Predictive Control with Data-driven Error Model for Quadrupedal Locomotion

Model Predictive Control (MPC) relies heavily on the robot model for its control law. However, a gap always exists between the reduced-order control model with uncertainties and the real robot, which degrades its performance. To address this issue, we propose the controller of integrating a data-driven error model into traditional MPC for quadruped robots. Our approach leverages real-world data from sensors to compensate for defects in the control model. Specifically, we employ the Autoregressive Moving Average Vector (ARMAV) model to construct the state error model of the quadruped robot using data. The predicted state errors are then used to adjust the predicted future robot states generated by MPC. By such an approach, our proposed controller can provide more accurate inputs to the system, enabling it to achieve desired states even in the presence of model parameter inaccuracies or disturbances. The proposed controller exhibits the capability to partially eliminate the disparity between the model and the real-world robot, thereby enhancing the locomotion performance of quadruped robots. We validate our proposed method through simulations and real-world experimental trials on a large-size quadruped robot that involves carrying a 20 kg un-modeled payload (84% of body weight).