This paper presents a method for guiding a robot manipulator to capture and bring a tumbling satellite to a state of rest. The proposed approach includes developing a coordination control for the combined system of the space robot and the target satellite, where the satellite acts as the manipulator payload. This control ensures that the robot tracks the optimal path while regulating the attitude of the chase vehicle to a desired value. Two optimal trajectories are then designed for the pre- and post-capture phases. In the pre-capturing phase, the manipulator manoeuvres are optimized by minimizing a cost function that includes the time of travel and the weighted norms of the end-effector velocity and acceleration, subject to the constraint that the robot end-effector and a grapple fixture on the satellite arrive at the rendezvous point with the same velocity. In the post-grasping phase, the manipulator dumps the initial velocity of the tumbling satellite in minimum time while ensuring that the magnitude of the torque applied to the satellite remains below a safe value. Overall, this method offers a promising solution for effectively capturing and bringing tumbling satellites to a state of rest.
Temporal data, representing chronological observations of complex systems, has always been a typical data structure that can be widely generated by many domains, such as industry, medicine and finance. Analyzing this type of data is extremely valuable for various applications. Thus, different temporal data analysis tasks, eg, classification, clustering and prediction, have been proposed in the past decades. Among them, causal discovery, learning the causal relations from temporal data, is considered an interesting yet critical task and has attracted much research attention. Existing casual discovery works can be divided into two highly correlated categories according to whether the temporal data is calibrated, ie, multivariate time series casual discovery, and event sequence casual discovery. However, most previous surveys are only focused on the time series casual discovery and ignore the second category. In this paper, we specify the correlation between the two categories and provide a systematical overview of existing solutions. Furthermore, we provide public datasets, evaluation metrics and new perspectives for temporal data casual discovery.
With the growing popularity of intelligent assistants (IAs), evaluating IA quality becomes an increasingly active field of research. This paper identifies and quantifies the feedback effect, a novel component in IA-user interactions: how the capabilities and limitations of the IA influence user behavior over time. First, we demonstrate that unhelpful responses from the IA cause users to delay or reduce subsequent interactions in the short term via an observational study. Next, we expand the time horizon to examine behavior changes and show that as users discover the limitations of the IA's understanding and functional capabilities, they learn to adjust the scope and wording of their requests to increase the likelihood of receiving a helpful response from the IA. Our findings highlight the impact of the feedback effect at both the micro and meso levels. We further discuss its macro-level consequences: unsatisfactory interactions continuously reduce the likelihood and diversity of future user engagements in a feedback loop.
Visual odometry is a fundamental task for many applications on mobile devices and robotic platforms. Since such applications are oftentimes not limited to predefined target domains and learning-based vision systems are known to generalize poorly to unseen environments, methods for continual adaptation during inference time are of significant interest. In this work, we introduce CoVIO for online continual learning of visual-inertial odometry. CoVIO effectively adapts to new domains while mitigating catastrophic forgetting by exploiting experience replay. In particular, we propose a novel sampling strategy to maximize image diversity in a fixed-size replay buffer that targets the limited storage capacity of embedded devices. We further provide an asynchronous version that decouples the odometry estimation from the network weight update step enabling continuous inference in real time. We extensively evaluate CoVIO on various real-world datasets demonstrating that it successfully adapts to new domains while outperforming previous methods. The code of our work is publicly available at http://continual-slam.cs.uni-freiburg.de.
Mobile mapping, in particular, Mobile Lidar Scanning (MLS) is increasingly widespread to monitor and map urban scenes at city scale with unprecedented resolution and accuracy. The resulting point cloud sampling of the scene geometry can be meshed in order to create a continuous representation for different applications: visualization, simulation, navigation, etc. Because of the highly dynamic nature of these urban scenes, long term mapping should rely on frequent map updates. A trivial solution is to simply replace old data with newer data each time a new acquisition is made. However it has two drawbacks: 1) the old data may be of higher quality (resolution, precision) than the new and 2) the coverage of the scene might be different in various acquisitions, including varying occlusions. In this paper, we propose a fully automatic pipeline to address these two issues by formulating the problem of merging meshes with different quality, coverage and acquisition time. Our method is based on a combined distance and visibility based change detection, a time series analysis to assess the sustainability of changes, a mesh mosaicking based on a global boolean optimization and finally a stitching of the resulting mesh pieces boundaries with triangle strips. Finally, our method is demonstrated on Robotcar and Stereopolis datasets.
Acute brain dysfunctions (ABD), which include coma and delirium, are prevalent in the ICU, especially among older patients. The current approach in manual assessment of ABD by care providers may be sporadic and subjective. Hence, there exists a need for a data-driven robust system automating the assessment and prediction of ABD. In this work, we develop a machine learning system for real-time prediction of ADB using Electronic Health Record (HER) data. Our data processing pipeline enables integration of static and temporal data, and extraction of features relevant to ABD. We train several state-of-the-art transformer models and baseline machine learning models including CatBoost and XGB on the data that was collected from patients admitted to the ICU at UF Shands Hospital. We demonstrate the efficacy of our system for tasks related to acute brain dysfunction including binary classification of brain acuity and multi-class classification (i.e., coma, delirium, death, or normal), achieving a mean AUROC of 0.953 on our Long-former implementation. Our system can then be deployed for real-time prediction of ADB in ICUs to reduce the number of incidents caused by ABD. Moreover, the real-time system has the potential to reduce costs, duration of patients stays in the ICU, and mortality among those afflicted.
This paper focuses on discrete-time wireless sensor networks with privacy-preservation. In practical applications, information exchange between sensors is subject to attacks. For the information leakage caused by the attack during the information transmission process, privacy-preservation is introduced for system states. To make communication resources more effectively utilized, a dynamic event-triggered set-membership estimator is designed. Moreover, the privacy of the system is analyzed to ensure the security of the real data. As a result, the set-membership estimator with differential privacy is analyzed using recursive convex optimization. Then the steady-state performance of the system is studied. Finally, one example is presented to demonstrate the feasibility of the proposed distributed filter containing privacy-preserving analysis.
The rapid progress of AI is fueled by increasingly large and computationally intensive machine learning models and datasets. As a consequence, the amount of compute used in training state-of-the-art models is exponentially increasing (doubling every 10 months between 2015 and 2022), resulting in a large carbon footprint. Federated Learning (FL) - a collaborative machine learning technique for training a centralized model using data of decentralized entities - can also be resource-intensive and have a significant carbon footprint, particularly when deployed at scale. Unlike centralized AI that can reliably tap into renewables at strategically placed data centers, cross-device FL may leverage as many as hundreds of millions of globally distributed end-user devices with diverse energy sources. Green AI is a novel and important research area where carbon footprint is regarded as an evaluation criterion for AI, alongside accuracy, convergence speed, and other metrics. In this paper, we propose the concept of Green FL, which involves optimizing FL parameters and making design choices to minimize carbon emissions consistent with competitive performance and training time. The contributions of this work are two-fold. First, we adopt a data-driven approach to quantify the carbon emissions of FL by directly measuring real-world at-scale FL tasks running on millions of phones. Second, we present challenges, guidelines, and lessons learned from studying the trade-off between energy efficiency, performance, and time-to-train in a production FL system. Our findings offer valuable insights into how FL can reduce its carbon footprint, and they provide a foundation for future research in the area of Green AI.
Adaptive falling and recovery skills greatly extend the applicability of robot deployments. In the case of legged mobile manipulators, the robot arm could adaptively stop the fall and assist the recovery. Prior works on falling and recovery strategies for legged mobile manipulators usually rely on assumptions such as inelastic collisions and falling in defined directions to enable real-time computation. This paper presents a learning-based approach to reducing fall damage and recovery. An asymmetric actor-critic training structure is used to train a time-invariant policy with time-varying reward functions. In simulated experiments, the policy recovers from 98.9\% of initial falling configurations. It reduces base contact impulse, peak joint internal forces, and base acceleration during the fall compared to the baseline methods. The trained control policy is deployed and extensively tested on the ALMA robot hardware. A video summarizing the proposed method and the hardware tests is available at https://youtu.be/avwg2HqGi8s.
Weakly-supervised text classification aims to train a classifier using only class descriptions and unlabeled data. Recent research shows that keyword-driven methods can achieve state-of-the-art performance on various tasks. However, these methods not only rely on carefully-crafted class descriptions to obtain class-specific keywords but also require substantial amount of unlabeled data and takes a long time to train. This paper proposes FastClass, an efficient weakly-supervised classification approach. It uses dense text representation to retrieve class-relevant documents from external unlabeled corpus and selects an optimal subset to train a classifier. Compared to keyword-driven methods, our approach is less reliant on initial class descriptions as it no longer needs to expand each class description into a set of class-specific keywords. Experiments on a wide range of classification tasks show that the proposed approach frequently outperforms keyword-driven models in terms of classification accuracy and often enjoys orders-of-magnitude faster training speed.