Over the past years, foundation models have caused a paradigm shift in machine learning due to their unprecedented capabilities for zero-shot and few-shot generalization. However, despite the success of foundation models in modalities such as natural language processing and computer vision, the development of foundation models for time series forecasting has lagged behind. We present Lag-Llama, a general-purpose foundation model for univariate probabilistic time series forecasting based on a decoder-only transformer architecture that uses lags as covariates. Lag-Llama is pretrained on a large corpus of diverse time series data from several domains, and demonstrates strong zero-shot generalization capabilities compared to a wide range of forecasting models on downstream datasets across domains. Moreover, when fine-tuned on relatively small fractions of such previously unseen datasets, Lag-Llama achieves state-of-the-art performance, outperforming prior deep learning approaches, emerging as the best general-purpose model on average. Lag-Llama serves as a strong contender to the current state-of-art in time series forecasting and paves the way for future advancements in foundation models tailored to time series data.

Bayesian Optimization (BO) is typically used to optimize an unknown function $f$ that is noisy and costly to evaluate, by exploiting an acquisition function that must be maximized at each optimization step. Even if provably asymptotically optimal BO algorithms are efficient at optimizing low-dimensional functions, scaling them to high-dimensional spaces remains an open problem, often tackled by assuming an additive structure for $f$. By doing so, BO algorithms typically introduce additional restrictive assumptions on the additive structure that reduce their applicability domain. This paper contains two main contributions: (i) we relax the restrictive assumptions on the additive structure of $f$ without weakening the maximization guarantees of the acquisition function, and (ii) we address the over-exploration problem for decentralized BO algorithms. To these ends, we propose DuMBO, an asymptotically optimal decentralized BO algorithm that achieves very competitive performance against state-of-the-art BO algorithms, especially when the additive structure of $f$ comprises high-dimensional factors.

Ring has announced a refresh of its popular Battery Doorbell Plus outdoor camera. The Battery Doorbell Pro is an upgrade in nearly every way, as is usually the case when companies slap "Pro" at the end of a name. Ring says this new model is its "most advanced battery powered doorbell" ever and that it's packed with features that exceed even its wired doorbells. It boasts radar-powered 3D motion detection, which was also included with the company's Stick Up Cam Pro. Otherwise called "Bird's Eye View", this technology tracks an object's path through the camera's field of view so you can monitor where visitors are going and the route they took to get there.

Despite significant popularity, Large-language Models (LLMs) require explicit, contextual facts to support domain-specific knowledge-intensive tasks in the design process. The applications built using LLMs should hence adopt Retrieval-Augmented Generation (RAG) to better suit the design process. In this article, we present a data-driven method to identify explicit facts from patent documents that provide standard descriptions of over 8 million artefacts. In our method, we train roBERTa Transformer-based sequence classification models using our dataset of 44,227 sentences and facts. Upon classifying tokens in a sentence as entities or relationships, our method uses another classifier to identify specific relationship tokens for a given pair of entities so that explicit facts of the form head entity :: relationship :: tail entity are identified. In the benchmark approaches for constructing facts, we use linear classifiers and Graph Neural Networks (GNNs) both incorporating BERT Transformer-based token embeddings to predict associations among the entities and relationships. We apply our method to 4,870 fan system related patents and populate a knowledge base of around 3 million facts. Upon retrieving the facts representing generalisable domain knowledge and the knowledge of specific subsystems and issues, we demonstrate how these facts contextualise LLMs for generating text that is more relevant to the design process.

Transparent objects are widely used in our daily lives, making it important to teach robots to interact with them. However, it's not easy because the reflective and refractive effects can make depth cameras fail to give accurate geometry measurements. To solve this problem, this paper introduces RFTrans, an RGB-D-based method for surface normal estimation and manipulation of transparent objects. By leveraging refractive flow as an intermediate representation, the proposed method circumvents the drawbacks of directly predicting the geometry (e.g. surface normal) from images and helps bridge the sim-to-real gap. It integrates the RFNet, which predicts refractive flow, object mask, and boundaries, followed by the F2Net, which estimates surface normal from the refractive flow. To make manipulation possible, a global optimization module will take in the predictions, refine the raw depth, and construct the point cloud with normal. An off-the-shelf analytical grasp planning algorithm is followed to generate the grasp poses. We build a synthetic dataset with physically plausible ray-tracing rendering techniques to train the networks. Results show that the proposed method trained on the synthetic dataset can consistently outperform the baseline method in both synthetic and real-world benchmarks by a large margin. Finally, a real-world robot grasping task witnesses an 83% success rate, proving that refractive flow can help enable direct sim-to-real transfer. The code, data, and supplementary materials are available at https://rftrans.robotflow.ai.

Large Language Models (LLMs) have not only revolutionized natural language processing but also extended their prowess to various domains, marking a significant stride towards artificial general intelligence. The interplay between LLMs and Evolutionary Algorithms (EAs), despite differing in objectives and methodologies, share a common pursuit of applicability in complex problems. Meanwhile, EA can provide an optimization framework for LLM's further enhancement under black-box settings, empowering LLM with flexible global search capacities. On the other hand, the abundant domain knowledge inherent in LLMs could enable EA to conduct more intelligent searches. Furthermore, the text processing and generative capabilities of LLMs would aid in deploying EAs across a wide range of tasks. Based on these complementary advantages, this paper provides a thorough review and a forward-looking roadmap, categorizing the reciprocal inspiration into two main avenues: LLM-enhanced EA and EA-enhanced LLM. Some integrated synergy methods are further introduced to exemplify the amalgamation of LLMs and EAs in diverse scenarios, including neural architecture search, code generation, software engineering, and various generation tasks. As the first comprehensive review focused on the EA research in the era of LLMs, this paper provides a foundational stepping stone for understanding the collaborative potential of LLMs and EAs. By meticulous categorization and critical analysis, we contribute to the ongoing discourse on the cross-disciplinary study of these two powerful paradigms. The identified challenges and future directions offer guidance for researchers and practitioners aiming to unlock the full potential of this innovative collaboration in propelling advancements in optimization and artificial intelligence.

Most commonly used $f$-divergences of measures, e.g., the Kullback-Leibler divergence, are subject to limitations regarding the support of the involved measures. A remedy consists of regularizing the $f$-divergence by a squared maximum mean discrepancy (MMD) associated with a characteristic kernel $K$. In this paper, we use the so-called kernel mean embedding to show that the corresponding regularization can be rewritten as the Moreau envelope of some function in the reproducing kernel Hilbert space associated with $K$. Then, we exploit well-known results on Moreau envelopes in Hilbert spaces to prove properties of the MMD-regularized $f$-divergences and, in particular, their gradients. Subsequently, we use our findings to analyze Wasserstein gradient flows of MMD-regularized $f$-divergences. Finally, we consider Wasserstein gradient flows starting from empirical measures and provide proof-of-the-concept numerical examples with Tsallis-$\alpha$ divergences.

Systematically including dynamically changing waypoints as desired discrete actions, for instance, resulting from superordinate task planning, has been challenging for online model predictive trajectory optimization with short planning horizons. This paper presents a novel waypoint model predictive control (wMPC) concept for online replanning tasks. The main idea is to split the planning horizon at the waypoint when it becomes reachable within the current planning horizon and reduce the horizon length towards the waypoints and goal points. This approach keeps the computational load low and provides flexibility in adapting to changing conditions in real time. The presented approach achieves competitive path lengths and trajectory durations compared to (global) offline RRT-type planners in a multi-waypoint scenario. Moreover, the ability of wMPC to dynamically replan tasks online is experimentally demonstrated on a KUKA LBR iiwa 14 R820 robot in a dynamic pick-and-place scenario.

Driving vehicles in complex scenarios under harsh conditions is the biggest challenge for autonomous vehicles (AVs). To address this issue, we propose hierarchical motion planning and robust control strategy using the front-active steering system in complex scenarios with various slippery road adhesion coefficients while considering vehicle uncertain parameters. Behaviors of human vehicles (HVs) are considered and modeled in the form of a car-following model via the Intelligent Driver Model (IDM). Then, in the upper layer, the motion planner first generates an optimal trajectory by using the artificial potential field (APF) algorithm to formulate any surrounding objects, e.g., road marks, boundaries, and static/dynamic obstacles. To track the generated optimal trajectory, in the lower layer, an offline-constrained output feedback robust model predictive control (RMPC) is employed for the linear parameter varying (LPV) system by applying linear matrix inequality (LMI) optimization method that ensures the robustness against the model parameter uncertainties. Furthermore, by augmenting the system model, our proposed approach, called offline RMPC, achieves outstanding efficiency compared to three existing RMPC approaches, e.g., offset-offline RMPC, online RMPC, and offline RMPC without an augmented model (offline RMPC w/o AM), in both improving computing time and reducing input vibrations.

In this paper, we propose a new visual navigation method based on a single RGB perspective camera. Using the Visual Teach & Repeat (VT&R) methodology [8], the robot acquires a visual trajectory consisting of multiple subgoal images in the teaching step. In the repeat step, we propose two network architectures, namely ViewNet and VelocityNet. The combination of the two networks allows the robot to follow the visual trajectory. ViewNet is trained to generate a future image based on the current view and the velocity command. The generated future image is combined with the subgoal image for training VelocityNet. We develop an offline Model Predictive Control (MPC) policy within VelocityNet with the dual goals of (1) reducing the difference between current and subgoal images and (2) ensuring smooth trajectories by mitigating velocity discontinuities. Offline training conserves computational resources, making it a more suitable option for scenarios with limited computational capabilities, such as embedded systems. We validate our experiments in a simulation environment, demonstrating that our model can effectively minimize the metric error between real and played trajectories.