Reconfigurable Robot Identification from Motion Data

Integrating Large Language Models (VLMs) and Vision-Language Models (VLMs) with robotic systems enables robots to process and understand complex natural language instructions and visual information. However, a fundamental challenge remains: for robots to fully capitalize on these advancements, they must have a deep understanding of their physical embodiment. The gap between AI models cognitive capabilities and the understanding of physical embodiment leads to the following question: Can a robot autonomously understand and adapt to its physical form and functionalities through interaction with its environment? This question underscores the transition towards developing self-modeling robots without reliance on external sensory or pre-programmed knowledge about their structure. Here, we propose a meta self modeling that can deduce robot morphology through proprioception (the internal sense of position and movement). Our study introduces a 12 DoF reconfigurable legged robot, accompanied by a diverse dataset of 200k unique configurations, to systematically investigate the relationship between robotic motion and robot morphology. Utilizing a deep neural network model comprising a robot signature encoder and a configuration decoder, we demonstrate the capability of our system to accurately predict robot configurations from proprioceptive signals. This research contributes to the field of robotic self-modeling, aiming to enhance understanding of their physical embodiment and adaptability in real world scenarios.

Unsupervised learning approaches to characterize heterogeneous samples using X-ray single particle imaging

One of the outstanding analytical problems in X-ray single particle imaging (SPI) is the classification of structural heterogeneity, which is especially difficult given the low signal-to-noise ratios of individual patterns and that even identical objects can yield patterns that vary greatly when orientation is taken into consideration. We propose two methods which explicitly account for this orientation-induced variation and can robustly determine the structural landscape of a sample ensemble. The first, termed common-line principal component analysis (PCA) provides a rough classification which is essentially parameter-free and can be run automatically on any SPI dataset. The second method, utilizing variation auto-encoders (VAEs) can generate 3D structures of the objects at any point in the structural landscape. We implement both these methods in combination with the noise-tolerant expand-maximize-compress (EMC) algorithm and demonstrate its utility by applying it to an experimental dataset from gold nanoparticles with only a few thousand photons per pattern and recover both discrete structural classes as well as continuous deformations. These developments diverge from previous approaches of extracting reproducible subsets of patterns from a dataset and open up the possibility to move beyond studying homogeneous sample sets and study open questions on topics such as nanocrystal growth and dynamics as well as phase transitions which have not been externally triggered.

FreeLabel: A Publicly Available Annotation Tool based on Freehand Traces

Large-scale annotation of image segmentation datasets is often prohibitively expensive, as it usually requires a huge number of worker hours to obtain high-quality results. Abundant and reliable data has been, however, crucial for the advances on image understanding tasks achieved by deep learning models. In this paper, we introduce FreeLabel, an intuitive open-source web interface that allows users to obtain high-quality segmentation masks with just a few freehand scribbles, in a matter of seconds. The efficacy of FreeLabel is quantitatively demonstrated by experimental results on the PASCAL dataset as well as on a dataset from the agricultural domain. Designed to benefit the computer vision community, FreeLabel can be used for both crowdsourced or private annotation and has a modular structure that can be easily adapted for any image dataset.