This paper presents a novel approach to electricity price forecasting (EPF) using a pure Transformer model. As opposed to other alternatives, no other recurrent network is used in combination to the attention mechanism. Hence, showing that the attention layer is enough for capturing the temporal patterns. The paper also provides fair comparison of the models using the open-source EPF toolbox and provide the code to enhance reproducibility and transparency in EPF research. The results show that the Transformer model outperforms traditional methods, offering a promising solution for reliable and sustainable power system operation.

In this work, we aim to teach robots to manipulate various thin-shell materials. Prior works studying thin-shell object manipulation mostly rely on heuristic policies or learn policies from real-world video demonstrations, and only focus on limited material types and tasks (e.g., cloth unfolding). However, these approaches face significant challenges when extended to a wider variety of thinshell materials and a diverse range of tasks. On the other hand, while virtual simulations are shown to be effective in diverse robot skill learning and evaluation, prior thin-shell simulation environments only support a subset of thin-shell materials, which also limits their supported range of tasks. To fill in this gap, we introduce ThinShellLab - a fully differentiable simulation platform tailored for robotic interactions with diverse thin-shell materials possessing varying material properties, enabling flexible thin-shell manipulation skill learning and evaluation. Building on top of our developed simulation engine, we design a diverse set of manipulation tasks centered around different thin-shell objects. Our experiments suggest that manipulating thin-shell objects presents several unique challenges: 1) thin-shell manipulation relies heavily on frictional forces due to the objects' co-dimensional nature, 2) the materials being manipulated are highly sensitive to minimal variations in interaction actions, and 3) the constant and frequent alteration in contact pairs makes trajectory optimization methods susceptible to local optima, and neither standard reinforcement learning algorithms nor trajectory optimization methods (either gradient-based or gradient-free) are able to solve the tasks alone. To overcome these challenges, we present an optimization scheme that couples sampling-based trajectory optimization and gradient-based optimization, boosting both learning efficiency and converged performance across various proposed tasks. By tuning simulation parameters with a minimal set of real-world data, we demonstrate successful deployment of the learned skills to real-robot settings. Manipulating thin-shell materials is complicated due to a diverse range of sophisticated activities involved in the manipulation process. For example, to lift an object using a sheet of paper, we would instinctively create a slight bend or curve in the paper before initiating the lift (Figure 1 (a)). Human beings intuitively learn such thin-shell manipulation skills, such as folding a paper to make a crease, drawing out a piece of sheet under a bottle, and even complicated card tricks. Compared with manipulating rigid bodies or volumetric materials, manipulating thin-shell materials poses several unique challenges. First, the physical forms of such materials are difficult to handle. For example, picking up a flat sheet is intrinsically difficult due to its close-to-zero thickness, preventing any effective grasping from the top.

In this paper, we describe the different approaches explored by the Jetsons team for the Multi-Lingual ESG Impact Duration Inference (ML-ESG-3) shared task. The shared task focuses on predicting the duration and type of the ESG impact of a news article. The shared task dataset consists of 2,059 news titles and articles in English, French, Korean, and Japanese languages. For the impact duration classification task, we fine-tuned XLM-RoBERTa with a custom fine-tuning strategy and using self-training and DeBERTa-v3 using only English translations. These models individually ranked first on the leaderboard for Korean and Japanese and in an ensemble for the English language, respectively. For the impact type classification task, our XLM-RoBERTa model fine-tuned using a custom fine-tuning strategy ranked first for the English language.

Detection of cyber attacks in smart power distribution grids with unbalanced configurations poses challenges due to the inherent nonlinear nature of these uncertain and stochastic systems. It originates from the intermittent characteristics of the distributed energy resources (DERs) generation and load variations. Moreover, the unknown behavior of cyber attacks, especially false data injection attacks (FDIAs) in the distribution grids with complex temporal correlations and the limited amount of labeled data increases the vulnerability of the grids and imposes a high risk in the secure and reliable operation of the grids. To address these challenges, this paper proposes an unsupervised adversarial autoencoder (AAE) model to detect FDIAs in unbalanced power distribution grids integrated with DERs, i.e., PV systems and wind generation. The proposed method utilizes long short-term memory (LSTM) in the structure of the autoencoder to capture the temporal dependencies in the time-series measurements and leverages the power of generative adversarial networks (GANs) for better reconstruction of the input data. The advantage of the proposed data-driven model is that it can detect anomalous points for the system operation without reliance on abstract models or mathematical representations. To evaluate the efficacy of the approach, it is tested on IEEE 13-bus and 123-bus systems with historical meteorological data (wind speed, ambient temperature, and solar irradiance) as well as historical real-world load data under three types of data falsification functions. The comparison of the detection results of the proposed model with other unsupervised learning methods verifies its superior performance in detecting cyber attacks in unbalanced power distribution grids.

Accurately identifying lychee-picking points in unstructured orchard environments and obtaining their coordinate locations is critical to the success of lychee-picking robots. However, traditional two-dimensional (2D) image-based object detection methods often struggle due to the complex geometric structures of branches, leaves and fruits, leading to incorrect determination of lychee picking points. In this study, we propose a Fcaf3d-lychee network model specifically designed for the accurate localisation of lychee picking points. Point cloud data of lychee picking points in natural environments are acquired using Microsoft's Azure Kinect DK time-of-flight (TOF) camera through multi-view stitching. We augment the Fully Convolutional Anchor-Free 3D Object Detection (Fcaf3d) model with a squeeze-and-excitation(SE) module, which exploits human visual attention mechanisms for improved feature extraction of lychee picking points. The trained network model is evaluated on a test set of lychee-picking locations and achieves an impressive F1 score of 88.57%, significantly outperforming existing models. Subsequent three-dimensional (3D) position detection of picking points in real lychee orchard environments yields high accuracy, even under varying degrees of occlusion. Localisation errors of lychee picking points are within 1.5 cm in all directions, demonstrating the robustness and generality of the model.

Price prediction algorithms propose prices for every product or service according to market trends, projected demand, and other characteristics, including government rules, international transactions, and speculation and expectation. As the dependent variable in price prediction, it is affected by several independent and correlated variables which may challenge the price prediction. To overcome this challenge, machine learning algorithms allow more accurate price prediction without explicitly modeling the relatedness between variables. However, as inputs increase, it challenges the existing machine learning approaches regarding computing efficiency and prediction effectiveness. Hence, this study introduces a novel decision level fusion approach to select informative variables in price prediction. The suggested metaheuristic algorithm balances two competitive objective functions, which are defined to improve the prediction utilized variables and reduce the error rate simultaneously. To generate Pareto optimal solutions, an Elastic net approach is employed to eliminate unrelated and redundant variables to increase the accuracy. Afterward, we propose a novel method for combining solutions and ensuring that a subset of features is optimal. Two various real datasets evaluate the proposed price prediction method. The results support the suggested superiority of the model concerning its relative root mean square error and adjusted correlation coefficient.

Low-precision quantization is recognized for its efficacy in neural network optimization. Our analysis reveals that non-quantized elementwise operations which are prevalent in layers such as parameterized activation functions, batch normalization, and quantization scaling dominate the inference cost of low-precision models. These non-quantized elementwise operations are commonly overlooked in SOTA efficiency metrics such as Arithmetic Computation Effort (ACE). In this paper, we propose ACEv2 - an extended version of ACE which offers a better alignment with the inference cost of quantized models and their energy consumption on ML hardware. Moreover, we introduce PikeLPN, a model that addresses these efficiency issues by applying quantization to both elementwise operations and multiply-accumulate operations. In particular, we present a novel quantization technique for batch normalization layers named QuantNorm which allows for quantizing the batch normalization parameters without compromising the model performance. Additionally, we propose applying Double Quantization where the quantization scaling parameters are quantized. Furthermore, we recognize and resolve the issue of distribution mismatch in Separable Convolution layers by introducing Distribution-Heterogeneous Quantization which enables quantizing them to low-precision. PikeLPN achieves Pareto-optimality in efficiency-accuracy trade-off with up to 3X efficiency improvement compared to SOTA low-precision models.

Reinforcement learning (RL) is a subset of artificial intelligence (AI) where agents learn the best action by interacting with the environment, making it suitable for tasks that do not require labeled data or direct supervision. Hyperparameters (HP) tuning refers to choosing the best parameter that leads to optimal solutions in RL algorithms. Manual or random tuning of the HP may be a crucial process because variations in this parameter lead to changes in the overall learning aspects and different rewards. In this paper, a novel and automatic HP-tuning method called Q-FOX is proposed. This uses both the FOX optimizer, a new optimization method inspired by nature that mimics red foxes' hunting behavior, and the commonly used, easy-to-implement RL Q-learning algorithm to solve the problem of HP tuning. Moreover, a new objective function is proposed which prioritizes the reward over the mean squared error (MSE) and learning time (steps). Q-FOX has been evaluated on two OpenAI Gym environment control tasks: Cart Pole and Frozen Lake. It exposed greater cumulative rewards than HP tuning with other optimizers, such as PSO, GA, Bee, or randomly selected HP. The cumulative reward for the Cart Pole task was 32.08, and for the Frozen Lake task was 0.95. Despite the robustness of Q-FOX, it has limitations. It cannot be used directly in real-word problems before choosing the HP in a simulation environment because its processes work iteratively, making it time-consuming. The results indicate that Q-FOX has played an essential role in HP tuning for RL algorithms to effectively solve different control tasks.

The personalization of machine learning (ML) models to address data drift is a significant challenge in the context of Internet of Things (IoT) applications. Presently, most approaches focus on fine-tuning either the full base model or its last few layers to adapt to new data, while often neglecting energy costs. However, various types of data drift exist, and fine-tuning the full base model or the last few layers may not result in optimal performance in certain scenarios. We propose Target Block Fine-Tuning (TBFT), a low-energy adaptive personalization framework designed for resource-constrained devices. We categorize data drift and personalization into three types: input-level, feature-level, and output-level. For each type, we fine-tune different blocks of the model to achieve optimal performance with reduced energy costs. Specifically, input-, feature-, and output-level correspond to fine-tuning the front, middle, and rear blocks of the model. We evaluate TBFT on a ResNet model, three datasets, three different training sizes, and a Raspberry Pi. Compared with the $Block Avg$, where each block is fine-tuned individually and their performance improvements are averaged, TBFT exhibits an improvement in model accuracy by an average of 15.30% whilst saving 41.57% energy consumption on average compared with full fine-tuning.

In reinforcement learning for legged robot locomotion, crafting effective reward strategies is crucial. Pre-defined gait patterns and complex reward systems are widely used to stabilize policy training. Drawing from the natural locomotion behaviors of humans and animals, which adapt their gaits to minimize energy consumption, we propose a simplified, energy-centric reward strategy to foster the development of energy-efficient locomotion across various speeds in quadruped robots. By implementing an adaptive energy reward function and adjusting the weights based on velocity, we demonstrate that our approach enables ANYmal-C and Unitree Go1 robots to autonomously select appropriate gaits, such as four-beat walking at lower speeds and trotting at higher speeds, resulting in improved energy efficiency and stable velocity tracking compared to previous methods using complex reward designs and prior gait knowledge. The effectiveness of our policy is validated through simulations in the IsaacGym simulation environment and on real robots, demonstrating its potential to facilitate stable and adaptive locomotion.