Motion planning against sensor data is often a critical bottleneck in real-time robot control. For sampling-based motion planners, which are effective for high-dimensional systems such as manipulators, the most time-intensive component is collision checking. We present a novel spatial data structure, the collision-affording point tree (CAPT): an exact representation of point clouds that accelerates collision-checking queries between robots and point clouds by an order of magnitude, with an average query time of less than 10 nanoseconds on 3D scenes comprising thousands of points. With the CAPT, sampling-based planners can generate valid, high-quality paths in under a millisecond, with total end-to-end computation time faster than 60 FPS, on a single thread of a consumer-grade CPU. We also present a point cloud filtering algorithm, based on space-filling curves, which reduces the number of points in a point cloud while preserving structure. Our approach enables robots to plan at real-time speeds in sensed environments, opening up potential uses of planning for high-dimensional systems in dynamic, changing, and unmodeled environments.

We study the problem of nonepisodic reinforcement learning (RL) for nonlinear dynamical systems, where the system dynamics are unknown and the RL agent has to learn from a single trajectory, i.e., without resets. We propose Nonepisodic Optimistic RL (NeoRL), an approach based on the principle of optimism in the face of uncertainty. NeoRL uses well-calibrated probabilistic models and plans optimistically w.r.t. the epistemic uncertainty about the unknown dynamics. Under continuity and bounded energy assumptions on the system, we provide a first-of-its-kind regret bound of $\setO(\beta_T \sqrt{T \Gamma_T})$ for general nonlinear systems with Gaussian process dynamics. We compare NeoRL to other baselines on several deep RL environments and empirically demonstrate that NeoRL achieves the optimal average cost while incurring the least regret.

Despite the prevalence of retrieval-augmented language models (RALMs), the seamless integration of these models with retrieval mechanisms to enhance performance in document-based tasks remains challenging. While some post-retrieval processing Retrieval-Augmented Generation (RAG) methods have achieved success, most still lack the ability to distinguish pertinent from extraneous information, leading to potential inconsistencies and reduced precision in the generated output, which subsequently affects the truthfulness of the language model's responses. To address these limitations, this work proposes a novel two-stage consistency learning approach for retrieved information compression in retrieval-augmented language models to enhance performance. By incorporating consistency learning, the aim is to generate summaries that maintain coherence and alignment with the intended semantic representations of a teacher model while improving faithfulness to the original retrieved documents. The proposed method is empirically validated across multiple datasets, demonstrating notable enhancements in precision and efficiency for question-answering tasks. It outperforms existing baselines and showcases the synergistic effects of combining contrastive and consistency learning paradigms within the retrieval-augmented generation framework.

Abstract--The future 6G network is envisioned to be AI-native, and as such, ML models will be pervasive in support of optimizing performance, reducing energy consumption, and in coping with increasing complexity and heterogeneity. A key challenge is automating the process of finding optimal model architectures satisfying stringent requirements stemming from varying tasks, dynamicity and available resources in the infrastructure and deployment positions. In this paper, we describe and review the state-of-the-art in Neural Architecture Search and Transfer Learning and their applicability in networking. Further, we identify open research challenges and set directions with a specific focus on three main requirements with elements unique to the future network, namely combining NAS and TL, multi-objective search, and tabular data. Artificial Intelligence (AI) and Machine Learning (ML) are technologies which are envisioned to have a prominent Transfer Learning (TL) is a key technology that can play a role in the future AI-native 6G network.

Density-functional theory with extended Hubbard functionals (DFT+$U$+$V$) provides a robust framework to accurately describe complex materials containing transition-metal or rare-earth elements. It does so by mitigating self-interaction errors inherent to semi-local functionals which are particularly pronounced in systems with partially-filled $d$ and $f$ electronic states. However, achieving accuracy in this approach hinges upon the accurate determination of the on-site $U$ and inter-site $V$ Hubbard parameters. In practice, these are obtained either by semi-empirical tuning, requiring prior knowledge, or, more correctly, by using predictive but expensive first-principles calculations. Here, we present a machine learning model based on equivariant neural networks which uses atomic occupation matrices as descriptors, directly capturing the electronic structure, local chemical environment, and oxidation states of the system at hand. We target here the prediction of Hubbard parameters computed self-consistently with iterative linear-response calculations, as implemented in density-functional perturbation theory (DFPT), and structural relaxations. Remarkably, when trained on data from 11 materials spanning various crystal structures and compositions, our model achieves mean absolute relative errors of 3% and 5% for Hubbard $U$ and $V$ parameters, respectively. By circumventing computationally expensive DFT or DFPT self-consistent protocols, our model significantly expedites the prediction of Hubbard parameters with negligible computational overhead, while approaching the accuracy of DFPT. Moreover, owing to its robust transferability, the model facilitates accelerated materials discovery and design via high-throughput calculations, with relevance for various technological applications.

The demand for condition-based and predictive maintenance is rising across industries, especially for remote, high-value, and high-risk assets. In this article, the diagnostic digital twin concept is introduced, discussed, and implemented for a floating offshore turbine. A diagnostic digital twin is a virtual representation of an asset that combines real-time data and models to monitor damage, detect anomalies, and diagnose failures, thereby enabling condition-based and predictive maintenance. By applying diagnostic digital twins to offshore assets, unexpected failures can be alleviated, but the implementation can prove challenging. Here, a diagnostic digital twin is implemented for an operational floating offshore wind turbine. The asset is monitored through measurements. Unsupervised learning methods are employed to build a normal operation model, detect anomalies, and provide a fault diagnosis. Warnings and diagnoses are sent through text messages, and a more detailed diagnosis can be accessed in a virtual reality interface. The diagnostic digital twin successfully detected an anomaly with high confidence hours before a failure occurred. The paper concludes by discussing diagnostic digital twins in the broader context of offshore engineering. The presented approach can be generalized to other offshore assets to improve maintenance and increase the lifetime, efficiency, and sustainability of offshore assets.

Vehicle motion planning is an essential component of autonomous driving technology. Current rule-based vehicle motion planning methods perform satisfactorily in common scenarios but struggle to generalize to long-tailed situations. Meanwhile, learning-based methods have yet to achieve superior performance over rule-based approaches in large-scale closed-loop scenarios. To address these issues, we propose PlanAgent, the first mid-to-mid planning system based on a Multi-modal Large Language Model (MLLM). MLLM is used as a cognitive agent to introduce human-like knowledge, interpretability, and common-sense reasoning into the closed-loop planning. Specifically, PlanAgent leverages the power of MLLM through three core modules. First, an Environment Transformation module constructs a Bird's Eye View (BEV) map and a lane-graph-based textual description from the environment as inputs. Second, a Reasoning Engine module introduces a hierarchical chain-of-thought from scene understanding to lateral and longitudinal motion instructions, culminating in planner code generation. Last, a Reflection module is integrated to simulate and evaluate the generated planner for reducing MLLM's uncertainty. PlanAgent is endowed with the common-sense reasoning and generalization capability of MLLM, which empowers it to effectively tackle both common and complex long-tailed scenarios. Our proposed PlanAgent is evaluated on the large-scale and challenging nuPlan benchmarks. A comprehensive set of experiments convincingly demonstrates that PlanAgent outperforms the existing state-of-the-art in the closed-loop motion planning task. Codes will be soon released.

In this work, we investigate how to leverage pre-trained visual-language models (VLM) for online Reinforcement Learning (RL). In particular, we focus on sparse reward tasks with pre-defined textual task descriptions. We first identify the problem of reward misalignment when applying VLM as a reward in RL tasks. To address this issue, we introduce a lightweight fine-tuning method, named Fuzzy VLM reward-aided RL (FuRL), based on reward alignment and relay RL. Specifically, we enhance the performance of SAC/DrQ baseline agents on sparse reward tasks by fine-tuning VLM representations and using relay RL to avoid local minima. Extensive experiments on the Meta-world benchmark tasks demonstrate the efficacy of the proposed method. Code is available at: https://github.com/fuyw/FuRL.

Public models offer predictions to a variety of downstream tasks and have played a crucial role in various AI applications, showcasing their proficiency in accurate predictions. However, the exclusive emphasis on prediction accuracy may not align with the diverse end objectives of downstream agents. Recognizing the public model's predictions as a service, we advocate for integrating the objectives of downstream agents into the optimization process. Concretely, to address performance disparities and foster fairness among heterogeneous agents in training, we propose a novel Equitable Objective. This objective, coupled with a policy gradient algorithm, is crafted to train the public model to produce a more equitable/uniform performance distribution across downstream agents, each with their unique concerns. Both theoretical analysis and empirical case studies have proven the effectiveness of our method in advancing performance equity across diverse downstream agents utilizing the public model for their decision-making. Codes and datasets are released at https://github.com/Ren-Research/Socially-Equitable-Public-Models.

The Univer sity of Texas at Arlington, 2015 Sup ervising Professor: Michael Manry There is always an ambiguity in deciding the number of learning factors that is really required for training a Multi - Layer Perceptron. This thesis solves this problem by introducing a new method of adaptively changing the number of learning factors computed based on the error change created per multiply. A new method is introduced for computing learning factors for weights grouped based on the curvature of the objective function. A method for linearly compressing large ill - conditioned Newton's Hessian matrices to smaller well - conditioned ones is shown. This thesis also shows that the proposed training algorithm adapts itself between two other algorithms in order to produce a better error decrease per multiply. The performanc e of the proposed algorithm is shown to be better than OWO - MOLF and Levenberg Marquardt for most of the data sets.