For the cascaded planning and control modules implemented for robot navigation, the frequency gap between the planner and controller has received limited attention. In this study, we introduce a novel B-spline parameterized optimization-based planner (BSPOP) designed to address the frequency gap challenge with limited onboard computational power in robots. The proposed planner generates continuous-time control inputs for low-level controllers running at arbitrary frequencies to track. Furthermore, when considering the convex control action sets, BSPOP uses the convex hull property to automatically constrain the continuous-time control inputs within the convex set. Consequently, compared with the discrete-time optimization-based planners, BSPOP reduces the number of decision variables and inequality constraints, which improves computational efficiency as a byproduct. Simulation results demonstrate that our approach can achieve a comparable planning performance to the high-frequency baseline optimization-based planners while demanding less computational power. Both simulation and experiment results show that the proposed method performs better in planning compared with baseline planners in the same frequency.

With the ubiquitous use of modern large language models (LLMs) across industries, the inference serving for these models is ever expanding. Given the high compute and memory requirements of modern LLMs, more and more top-of-the-line GPUs are being deployed to serve these models. Energy availability has come to the forefront as the biggest challenge for data center expansion to serve these models. In this paper, we present the trade-offs brought up by making energy efficiency the primary goal of LLM serving under performance SLOs. We show that depending on the inputs, the model, and the service-level agreements, there are several knobs available to the LLM inference provider to use for being energy efficient. We characterize the impact of these knobs on the latency, throughput, as well as the energy. By exploring these trade-offs, we offer valuable insights into optimizing energy usage without compromising on performance, thereby paving the way for sustainable and cost-effective LLM deployment in data center environments.

Existing Vision-Language models (VLMs) estimate either long-term trajectory waypoints or a set of control actions as a reactive solution for closed-loop planning based on their rich scene comprehension. However, these estimations are coarse and are subjective to their "world understanding" which may generate sub-optimal decisions due to perception errors. In this paper, we introduce LeGo-Drive, which aims to address this issue by estimating a goal location based on the given language command as an intermediate representation in an end-to-end setting. The estimated goal might fall in a non-desirable region, like on top of a car for a parking-like command, leading to inadequate planning. Hence, we propose to train the architecture in an end-to-end manner, resulting in iterative refinement of both the goal and the trajectory collectively. We validate the effectiveness of our method through comprehensive experiments conducted in diverse simulated environments. We report significant improvements in standard autonomous driving metrics, with a goal reaching Success Rate of 81%. We further showcase the versatility of LeGo-Drive across different driving scenarios and linguistic inputs, underscoring its potential for practical deployment in autonomous vehicles and intelligent transportation systems.

This paper studies the use of conformal prediction (CP), an emerging probabilistic forecasting method, for day-ahead photovoltaic power predictions to enhance participation in electricity markets. First, machine learning models are used to construct point predictions. Thereafter, several variants of CP are implemented to quantify the uncertainty of those predictions by creating CP intervals and cumulative distribution functions. Optimal quantity bids for the electricity market are estimated using several bidding strategies under uncertainty, namely: trust-the-forecast, worst-case, Newsvendor and expected utility maximization (EUM). Results show that CP in combination with k-nearest neighbors and/or Mondrian binning outperforms its corresponding linear quantile regressors. Using CP in combination with certain bidding strategies can yield high profit with minimal energy imbalance. In concrete, using conformal predictive systems with k-nearest neighbors and Mondrian binning after random forest regression yields the best profit and imbalance regardless of the decision-making strategy. Combining this uncertainty quantification method with the EUM strategy with conditional value at risk (CVaR) can yield up to 93\% of the potential profit with minimal energy imbalance.

While humans process language incrementally, the best language encoders currently used in NLP do not. Both bidirectional LSTMs and Transformers assume that the sequence that is to be encoded is available in full, to be processed either forwards and backwards (BiLSTMs) or as a whole (Transformers). We investigate how they behave under incremental interfaces, when partial output must be provided based on partial input seen up to a certain time step, which may happen in interactive systems. We test five models on various NLU datasets and compare their performance using three incremental evaluation metrics. The results support the possibility of using bidirectional encoders in incremental mode while retaining most of their non-incremental quality. The "omni-directional" BERT model, which achieves better non-incremental performance, is impacted more by the incremental access. This can be alleviated by adapting the training regime (truncated training), or the testing procedure, by delaying the output until some right context is available or by incorporating hypothetical right contexts generated by a language model like GPT-2.

As the ubiquity of deep learning in various machine learning applications has amplified, a proliferation of neural network models has been trained and shared on public model repositories. In the context of a targeted machine learning assignment, utilizing an apt source model as a starting point typically outperforms the strategy of training from scratch, particularly with limited training data. Despite the investigation and development of numerous model selection strategies in prior work, the process remains time-consuming, especially given the ever-increasing scale of model repositories. In this paper, we propose a two-phase (coarse-recall and fine-selection) model selection framework, aiming to enhance the efficiency of selecting a robust model by leveraging the models' training performances on benchmark datasets. Specifically, the coarse-recall phase clusters models showcasing similar training performances on benchmark datasets in an offline manner. A light-weight proxy score is subsequently computed between this model cluster and the target dataset, which serves to recall a significantly smaller subset of potential candidate models in a swift manner. In the following fine-selection phase, the final model is chosen by fine-tuning the recalled models on the target dataset with successive halving. To accelerate the process, the final fine-tuning performance of each potential model is predicted by mining the model's convergence trend on the benchmark datasets, which aids in filtering lower performance models more earlier during fine-tuning. Through extensive experimentation on tasks covering natural language processing and computer vision, it has been demonstrated that the proposed methodology facilitates the selection of a high-performing model at a rate about 3x times faster than conventional baseline methods. Our code is available at https://github.com/plasware/two-phase-selection.

In industrial applications Finite State Machines (FSMs) are often used to implement decision making policies for autonomous systems. In recent years, the use of Behavior Trees (BT) as an alternative policy representation has gained considerable attention. The benefits of using BTs over FSMs are modularity and reusability, enabling a system that is easy to extend and modify. However, there exists few published studies on successful implementations of BTs for industrial applications. This paper contributes with the lessons learned from implementing BTs in a complex industrial use case, where a robotic system assembles explosive charges and places them in holes on the rock face. The main result of the paper is that even if it is possible to model the entire system as a BT, combining BTs with FSMs can increase the readability and maintainability of the system. The benefit of such combination is remarked especially in the use case studied in this paper, where the full system cannot run autonomously but human supervision and feedback are needed.

This paper proposes an efficient hybrid localization framework for the autonomous navigation of an unmanned ground vehicle in uneven or rough terrain, as well as techniques for detailed processing of 3D point cloud data. The framework is an extended version of FAST-LIO2 algorithm aiming at robust localization in known point cloud maps using Lidar and inertial data. The system is based on a hybrid scheme which allows the robot to not only localize in a pre-built map, but concurrently perform simultaneous localization and mapping to explore unknown scenes, and build extended maps aligned with the existing map. Our framework has been developed for the task of autonomous ground inspection of high-voltage electrical substations residing in rough terrain. We present the application of our algorithm in field trials, using a pre-built map of the substation, but also analyze techniques that aim to isolate the ground and its traversable regions, to allow the robot to approach points of interest within the map and perform inspection tasks using visual and thermal data.

To address the interlinked biodiversity and climate crises, we need an understanding of where species occur and how these patterns are changing. However, observational data on most species remains very limited, and the amount of data available varies greatly between taxonomic groups. We introduce the problem of predicting species occurrence patterns given (a) satellite imagery, and (b) known information on the occurrence of other species. To evaluate algorithms on this task, we introduce SatButterfly, a dataset of satellite images, environmental data and observational data for butterflies, which is designed to pair with the existing SatBird dataset of bird observational data. To address this task, we propose a general model, R-Tran, for predicting species occurrence patterns that enables the use of partial observational data wherever found. We find that R-Tran outperforms other methods in predicting species encounter rates with partial information both within a taxon (birds) and across taxa (birds and butterflies). Our approach opens new perspectives to leveraging insights from species with abundant data to other species with scarce data, by modelling the ecosystems in which they co-occur.

Lithium-ion batteries (Li-ion) have revolutionized energy storage technology, becoming integral to our daily lives by powering a diverse range of devices and applications. Their high energy density, fast power response, recyclability, and mobility advantages have made them the preferred choice for numerous sectors. This paper explores the seamless integration of Prognostics and Health Management within batteries, presenting a multidisciplinary approach that enhances the reliability, safety, and performance of these powerhouses. Remaining useful life (RUL), a critical concept in prognostics, is examined in depth, emphasizing its role in predicting component failure before it occurs. The paper reviews various RUL prediction methods, from traditional models to cutting-edge data-driven techniques. Furthermore, it highlights the paradigm shift toward deep learning architectures within the field of Li-ion battery health prognostics, elucidating the pivotal role of deep learning in addressing battery system complexities. Practical applications of PHM across industries are also explored, offering readers insights into real-world implementations.This paper serves as a comprehensive guide, catering to both researchers and practitioners in the field of Li-ion battery PHM.