Ensemble Kalman Inversion (EKI) has been proposed as an efficient method for solving inverse problems with expensive forward models. However, the method is based on the assumption that we proceed through a sequence of Gaussian measures in moving from the prior to the posterior, and that the forward model is linear. In this work, we introduce Sequential Kalman Monte Carlo (SKMC) samplers, where we exploit EKI and Flow Annealed Kalman Inversion (FAKI) within a Sequential Monte Carlo (SMC) sampling scheme to perform efficient gradient-free inference in Bayesian inverse problems. FAKI employs normalizing flows (NF) to relax the Gaussian ansatz of the target measures in EKI. NFs are able to learn invertible maps between a Gaussian latent space and the original data space, allowing us to perform EKI updates in the Gaussianized NF latent space. However, FAKI alone is not able to correct for the model linearity assumptions in EKI. Errors in the particle distribution as we move through the sequence of target measures can therefore compound to give incorrect posterior moment estimates. In this work we consider the use of EKI and FAKI to initialize the particle distribution for each target in an adaptive SMC annealing scheme, before performing t-preconditioned Crank-Nicolson (tpCN) updates to distribute particles according to the target. We demonstrate the performance of these SKMC samplers on three challenging numerical benchmarks, showing significant improvements in the rate of convergence compared to standard SMC with importance weighted resampling at each temperature level.

The task of sampling from a probability density can be approached as transporting a tractable density function to the target, known as dynamical measure transport. In this work, we tackle it through a principled unified framework using deterministic or stochastic evolutions described by partial differential equations (PDEs). This framework incorporates prior trajectory-based sampling methods, such as diffusion models or Schr\"odinger bridges, without relying on the concept of time-reversals. Moreover, it allows us to propose novel numerical methods for solving the transport task and thus sampling from complicated targets without the need for the normalization constant or data samples. We employ physics-informed neural networks (PINNs) to approximate the respective PDE solutions, implying both conceptional and computational advantages. In particular, PINNs allow for simulation- and discretization-free optimization and can be trained very efficiently, leading to significantly better mode coverage in the sampling task compared to alternative methods. Moreover, they can readily be fine-tuned with Gauss-Newton methods to achieve high accuracy in sampling.

Predictive models are a crucial component of many robotic systems. Yet, constructing accurate predictive models for a variety of deformable objects, especially those with unknown physical properties, remains a significant challenge. This paper introduces AdaptiGraph, a learning-based dynamics modeling approach that enables robots to predict, adapt to, and control a wide array of challenging deformable materials with unknown physical properties. AdaptiGraph leverages the highly flexible graph-based neural dynamics (GBND) framework, which represents material bits as particles and employs a graph neural network (GNN) to predict particle motion. Its key innovation is a unified physical property-conditioned GBND model capable of predicting the motions of diverse materials with varying physical properties without retraining. Upon encountering new materials during online deployment, AdaptiGraph utilizes a physical property optimization process for a few-shot adaptation of the model, enhancing its fit to the observed interaction data. The adapted models can precisely simulate the dynamics and predict the motion of various deformable materials, such as ropes, granular media, rigid boxes, and cloth, while adapting to different physical properties, including stiffness, granular size, and center of pressure. On prediction and manipulation tasks involving a diverse set of real-world deformable objects, our method exhibits superior prediction accuracy and task proficiency over non-material-conditioned and non-adaptive models. The project page is available at https://robopil.github.io/adaptigraph/ .

On-device inference holds great potential for increased energy efficiency, responsiveness, and privacy in edge ML systems. However, due to less capable ML models that can be embedded in resource-limited devices, use cases are limited to simple inference tasks such as visual keyword spotting, gesture recognition, and predictive analytics. In this context, the Hierarchical Inference (HI) system has emerged as a promising solution that augments the capabilities of the local ML by offloading selected samples to an edge server or cloud for remote ML inference. Existing works demonstrate through simulation that HI improves accuracy. However, they do not account for the latency and energy consumption on the device, nor do they consider three key heterogeneous dimensions that characterize ML systems: hardware, network connectivity, and models. In contrast, this paper systematically compares the performance of HI with on-device inference based on measurements of accuracy, latency, and energy for running embedded ML models on five devices with different capabilities and three image classification datasets. For a given accuracy requirement, the HI systems we designed achieved up to 73% lower latency and up to 77% lower device energy consumption than an on-device inference system. The key to building an efficient HI system is the availability of small-size, reasonably accurate on-device models whose outputs can be effectively differentiated for samples that require remote inference. Despite the performance gains, HI requires on-device inference for all samples, which adds a fixed overhead to its latency and energy consumption. Therefore, we design a hybrid system, Early Exit with HI (EE-HI), and demonstrate that compared to HI, EE-HI reduces the latency by up to 59.7% and lowers the device's energy consumption by up to 60.4%.

Soft robots are distinguished by their flexible and adaptable, allowing them to perform tasks that are nearly impossible for rigid robots. However, controlling their configuration is challenging due to their nonlinear material response and infinite deflection degrees of freedom. A potential solution is to discretize the infinite-dimensional configuration space of soft robots into a finite but sufficiently large number of functional shapes. This study explores a co-design strategy for pneumatically actuated soft grippers with multiple encoded stable states, enabling desired functional shape and stiffness reconfiguration. An energy based analytical model for soft multistable grippers is presented, mapping the robots' infinite-dimensional configuration space into discrete stable states, allowing for prediction of the systems final state and dynamic behavior. Our approach introduces a general method to capture the soft robots' response with the lattice lumped parameters using automatic relevance determination regression, facilitating inverse co-design. The resulting computationally efficient model enables us to explore the configuration space in a tractable manner, allowing the inverse co-design of our robots by setting desired targeted positions with optimized stiffness of the set targets. This strategy offers a framework for controlling soft robots by exploiting the nonlinear mechanics of multistable structures, thus embodying mechanical intelligence into soft structures.

The Wizard of Oz (WoZ) method is a widely adopted research approach where a human Wizard "role-plays" a not readily available technology and interacts with participants to elicit user behaviors and probe the design space. With the growing ability for modern large language models (LLMs) to role-play, one can apply LLMs as Wizards in WoZ experiments with better scalability and lower cost than the traditional approach. However, methodological guidance on responsibly applying LLMs in WoZ experiments and a systematic evaluation of LLMs' role-playing ability are lacking. Through two LLM-powered WoZ studies, we take the first step towards identifying an experiment lifecycle for researchers to safely integrate Figure 1: An overview of our proposed experiment lifecycle LLMs into WoZ experiments and interpret data generated compared to traditional Wizard of Oz experiments. We ask from settings that involve Wizards role-played by LLMs. We also GPT-4 empowered agents to play the role of "Wizards" in contribute a heuristic-based evaluation framework that allows the conversation-based Wizard of Oz experiments. The agents estimation of LLMs' role-playing ability in WoZ experiments and talk to either Simulacrums powered by GPT-4 (in Study 1) or reveals LLMs' behavior patterns at scale.

In this study, we conduct a comprehensive review of smart grid security, exploring system architectures, attack methodologies, defense strategies, and future research opportunities. We provide an in-depth analysis of various attack vectors, focusing on new attack surfaces introduced by advanced components in smart grids. The review particularly includes an extensive analysis of coordinated attacks that incorporate multiple attack strategies and exploit vulnerabilities across various smart grid components to increase their adverse impact, demonstrating the complexity and potential severity of these threats. Following this, we examine innovative detection and mitigation strategies, including game theory, graph theory, blockchain, and machine learning, discussing their advancements in counteracting evolving threats and associated research challenges. In particular, our review covers a thorough examination of widely used machine learning-based mitigation strategies, analyzing their applications and research challenges spanning across supervised, unsupervised, semi-supervised, ensemble, and reinforcement learning. Further, we outline future research directions and explore new techniques and concerns. We first discuss the research opportunities for existing and emerging strategies, and then explore the potential role of new techniques, such as large language models (LLMs), and the emerging threat of adversarial machine learning in the future of smart grid security.

PaliGemma is an open Vision-Language Model (VLM) that is based on the SigLIP-So400m vision encoder and the Gemma-2B language model. It is trained to be a versatile and broadly knowledgeable base model that is effective to transfer. It achieves strong performance on a wide variety of open-world tasks. We evaluate PaliGemma on almost 40 diverse tasks including standard VLM benchmarks, but also more specialized tasks such as remote-sensing and segmentation.

This work describes the development and validation of a digital twin for a semi-autogenous grinding (SAG) mill controlled by an expert system. The digital twin consists of three modules emulating a closed-loop system: fuzzy logic for the expert control, a state-space model for regulatory control, and a recurrent neural network for the SAG mill process. The model was trained with 68 hours of data and validated with 8 hours of test data. It predicts the mill's behavior within a 2.5-minute horizon with a 30-second sampling time. The disturbance detection evaluates the need for retraining, and the digital twin shows promise for supervising the SAG mill with the expert control system. Future work will focus on integrating this digital twin into real-time optimization strategies with industrial validation.

Long sequences occur in abundance within real-world scenarios, hence properly modelling them opens numerous down-stream use-cases. Deep neural networks, however, have often struggled with these for a variety of reasons. Recent advances, both in system engineering as well as model design, have enabled the scaling up of model that are purported to support extended context length. In particular, the state-space and linear recurrent neural network families of models hypothetically can entend to infinite sequence lenth. However, is this too good to be true? We conduct an evaluation to show that while such claims may be sound theoretically, there remain large practical gaps that are empirically observed. In particular, recurrent models still suffer in the same settings as long-context LLMs with attention. We further show that different inductive biases have inconsistent extrapolation capabilities, highlighting the need to further study such paradigms and investigate why long-context models seemingly fail to behave as one might expect.