Robotic weed flaming is a new and environmentally friendly approach to weed removal in the agricultural field. Using a mobile manipulator equipped with a flamethrower, we design a new system and algorithm to enable effective weed flaming, which requires robotic manipulation with a soft and deformable end effector, as the thermal coverage of the flame is affected by dynamic or unknown environmental factors such as gravity, wind, atmospheric pressure, fuel tank pressure, and pose of the nozzle. System development includes overall design, hardware integration, and software pipeline. To enable precise weed removal, the greatest challenge is to detect and predict dynamic flame coverage in real time before motion planning, which is quite different from a conventional rigid gripper in grasping or a spray gun in painting. Based on the images from two onboard infrared cameras and the pose information of the flamethrower nozzle on a mobile manipulator, we propose a new dynamic flame coverage model. The flame model uses a center-arc curve with a Gaussian cross-section model to describe the flame coverage in real time. The experiments have demonstrated the working system and shown that our model and algorithm can achieve a mean average precision (mAP) of more than 76\% in the reprojected images during online prediction.

We consider the problem where an agent aims to combine the views and insights of different experts' models. Specifically, each expert proposes a diffusion process over a finite time horizon. The agent then combines the experts' models by minimising the weighted Kullback-Leibler divergence to each of the experts' models. We show existence and uniqueness of the barycentre model and proof an explicit representation of the Radon-Nikodym derivative relative to the average drift model. We further allow the agent to include their own constraints, which results in an optimal model that can be seen as a distortion of the experts' barycentre model to incorporate the agent's constraints. Two deep learning algorithms are proposed to find the optimal drift of the combined model, allowing for efficient simulations. The first algorithm aims at learning the optimal drift by matching the change of measure, whereas the second algorithm leverages the notion of elicitability to directly estimate the value function. The paper concludes with a extended application to combine implied volatility smiles models that were estimated on different datasets.

Poverty has a significant geographic component, which has been studied by human geographers and developmental economists, giving rise to techniques such as small area estimation. With the availability of accurate and high-resolution data, it is possible to produce poverty maps that display the spatial distribution of poverty, and this has been instrumental in deciphering its determinants (Gauci, 2005). The availability of high-resolution geographically specified socio-economic data has opened avenues for more precise analysis that target areas of poverty. Furthermore, the accumulation of data over time has allowed for the inclusion of temporal dynamics in understanding the persistent nature of some impoverished areas. While pockets of poverty can be spatially defined, understanding the social, economic, and physical processes that create self-perpetuating geographies of poverty remain a pressing challenge, aspects of this geography have received attention in various literature (Bird et al., 2010), involving spatial poverty traps (Jalan, Ravallion, et al., 1997), crime (Hipp, 2016), and economic aid (Briggs, 2018).

Embodied AI robots have the potential to fundamentally improve the way human beings live and manufacture. Continued progress in the burgeoning field of using large language models to control robots depends critically on an efficient computing substrate. In particular, today's computing systems for embodied AI robots are designed purely based on the interest of algorithm developers, where robot actions are divided into a discrete frame-basis. Such an execution pipeline creates high latency and energy consumption. This paper proposes Corki, an algorithm-architecture co-design framework for real-time embodied AI robot control. Our idea is to decouple LLM inference, robotic control and data communication in the embodied AI robots compute pipeline. Instead of predicting action for one single frame, Corki predicts the trajectory for the near future to reduce the frequency of LLM inference. The algorithm is coupled with a hardware that accelerates transforming trajectory into actual torque signals used to control robots and an execution pipeline that parallels data communication with computation. Corki largely reduces LLM inference frequency by up to 8.0x, resulting in up to 3.6x speed up. The success rate improvement can be up to 17.3%. Code is provided for re-implementation. https://github.com/hyy0613/Corki

Developing advanced catalysts for acidic oxygen evolution reaction (OER) is crucial for sustainable hydrogen production. This study introduces a novel, multi-stage machine learning (ML) approach to streamline the discovery and optimization of complex multi-metallic catalysts. Our method integrates data mining, active learning, and domain adaptation throughout the materials discovery process. Unlike traditional trial-and-error methods, this approach systematically narrows the exploration space using domain knowledge with minimized reliance on subjective intuition. Then the active learning module efficiently refines element composition and synthesis conditions through iterative experimental feedback. The process culminated in the discovery of a promising Ru-Mn-Ca-Pr oxide catalyst. Our workflow also enhances theoretical simulations with domain adaptation strategy, providing deeper mechanistic insights aligned with experimental findings. By leveraging diverse data sources and multiple ML strategies, we establish an efficient pathway for electrocatalyst discovery and optimization. This comprehensive, data-driven approach represents a paradigm shift and potentially new benchmark in electrocatalysts research.

This study evaluates the capabilities of ChatGPT versions 3.5 and 4 in generating code across a diverse range of programming languages. Our objective is to assess the effectiveness of these AI models for generating scientific programs. To this end, we asked ChatGPT to generate three distinct codes: a simple numerical integration, a conjugate gradient solver, and a parallel 1D stencil-based heat equation solver. The focus of our analysis was on the compilation, runtime performance, and accuracy of the codes. While both versions of ChatGPT successfully created codes that compiled and ran (with some help), some languages were easier for the AI to use than others (possibly because of the size of the training sets used). Parallel codes -- even the simple example we chose to study here -- also difficult for the AI to generate correctly.

This work presents a fully integrated tree-based combined exploration-planning algorithm: Exploration-RRT (ERRT). The algorithm is focused on providing real-time solutions for local exploration in a fully unknown and unstructured environment while directly incorporating exploratory behavior, robot-safe path planning, and robot actuation into the central problem. ERRT provides a complete sampling and tree-based solution for evaluating "where to go next" by considering a trade-off between maximizing information gain, and minimizing the distances travelled and the robot actuation along the path. The complete scheme is evaluated in extensive simulations, comparisons, as well as real-world field experiments in constrained and narrow subterranean and GPS-denied environments. The framework is fully ROS-integrated, straight-forward to use, and we open-source it at https://github.com/LTU-RAI/ExplorationRRT.

Large Language Models (LLMs) are increasingly ubiquitous, yet their ability to retain and reason about temporal information remains limited, hindering their application in real-world scenarios where understanding the sequential nature of events is crucial. Our study experiments with 12 state-of-the-art models (ranging from 2B to 70B+ parameters) on a novel numerical-temporal dataset, \textbf{TempUN}, spanning from 10,000 BCE to 2100 CE, to uncover significant temporal retention and comprehension limitations. We propose six metrics to assess three learning paradigms to enhance temporal knowledge acquisition. Our findings reveal that open-source models exhibit knowledge gaps more frequently, suggesting a trade-off between limited knowledge and incorrect responses. Additionally, various fine-tuning approaches significantly improved performance, reducing incorrect outputs and impacting the identification of 'information not available' in the generations. The associated dataset and code are available at (https://github.com/lingoiitgn/TempUN).

Ensemble forecasting is crucial for improving weather predictions, especially for forecasts of extreme events. Constructing an ensemble prediction system (EPS) based on conventional NWP models is highly computationally expensive. ML models have emerged as valuable tools for deterministic weather forecasts, providing forecasts with significantly reduced computational requirements and even surpassing the forecast performance of traditional NWP models. However, challenges arise when applying ML models to ensemble forecasting. Recent ML models, such as GenCast and SEEDS model, rely on the ERA5 EDA or operational NWP ensemble members for forecast generation. Their spatial resolution is also considered too coarse for many applications. To overcome these limitations, we introduce FuXi-ENS, an advanced ML model designed to deliver 6-hourly global ensemble weather forecasts up to 15 days. This model runs at a significantly increased spatial resolution of 0.25\textdegree, incorporating 5 atmospheric variables at 13 pressure levels, along with 13 surface variables. By leveraging the inherent probabilistic nature of Variational AutoEncoder (VAE), FuXi-ENS optimizes a loss function that combines the CRPS and the KL divergence between the predicted and target distribution, facilitating the incorporation of flow-dependent perturbations in both initial conditions and forecast. This innovative approach makes FuXi-ENS an advancement over the traditional ones that use L1 loss combined with the KL loss in standard VAE models for ensemble weather forecasting. Results demonstrate that FuXi-ENS outperforms ensemble forecasts from the ECMWF, a world leading NWP model, in the CRPS of 98.1% of 360 variable and forecast lead time combinations. This achievement underscores the potential of the FuXi-ENS model to enhance ensemble weather forecasts, offering a promising direction for further development in this field.

Pre-trained models have become pivotal in enhancing the efficiency and accuracy of time series forecasting on target data sets by leveraging transfer learning. While benchmarks validate the performance of model generalization on various target data sets, there is no structured research providing similarity and diversity measures to explain which characteristics of source and target data lead to transfer learning success. Our study pioneers in systematically evaluating the impact of source-target similarity and source diversity on zero-shot and fine-tuned forecasting outcomes in terms of accuracy, bias, and uncertainty estimation. We investigate these dynamics using pre-trained neural networks across five public source datasets, applied to forecasting five target data sets, including real-world wholesales data. We identify two feature-based similarity and diversity measures, finding that source-target similarity reduces forecasting bias, while source diversity improves forecasting accuracy and uncertainty estimation, but increases the bias.