Autonomous robots are often employed for data collection due to their efficiency and low labour costs. A key task in robotic data acquisition is planning paths through an initially unknown environment to collect observations given platform-specific resource constraints, such as limited battery life. Adaptive online path planning in 3D environments is challenging due to the large set of valid actions and the presence of unknown occlusions. To address these issues, we propose a novel deep reinforcement learning approach for adaptively replanning robot paths to map targets of interest in unknown 3D environments. A key aspect of our approach is a dynamically constructed graph that restricts planning actions local to the robot, allowing us to quickly react to newly discovered obstacles and targets of interest. For replanning, we propose a new reward function that balances between exploring the unknown environment and exploiting online-collected data about the targets of interest. Our experiments show that our method enables more efficient target detection compared to state-of-the-art learning and non-learning baselines. We also show the applicability of our approach for orchard monitoring using an unmanned aerial vehicle in a photorealistic simulator.

Knowledge of the effect of interventions, called the treatment effect, is paramount for decision-making. Approaches to estimating this treatment effect, e.g. by using Conditional Average Treatment Effect (CATE) estimators, often only provide a point estimate of this treatment effect, while additional uncertainty quantification is frequently desired instead. Therefore, we present a novel method, the Conformal Monte Carlo (CMC) meta-learners, leveraging conformal predictive systems, Monte Carlo sampling, and CATE meta-learners, to instead produce a predictive distribution usable in individualized decision-making. Furthermore, we show how specific assumptions on the noise distribution of the outcome heavily affect these uncertainty predictions. Nonetheless, the CMC framework shows strong experimental coverage while retaining small interval widths to provide estimates of the true individual treatment effect.

This paper investigates the tracking problem of a smooth coordinate-invariant trajectory using dual quaternion algebra. The proposed architecture consists of a cascade structure in which the outer-loop MPC performs real-time smoothing of the manipulator's end-effector twist while an inner-loop kinematic controller ensures tracking of the instantaneous desired end-effector pose. Experiments on a $7$-DoF Franka Emika Panda robotic manipulator validate the proposed method demonstrating its application to constraint the robot twists, accelerations and jerks within prescribed bounds.

We study the problem of training diffusion models to sample from a distribution with a given unnormalized density or energy function. We benchmark several diffusion-structured inference methods, including simulation-based variational approaches and off-policy methods (continuous generative flow networks). Our results shed light on the relative advantages of existing algorithms while bringing into question some claims from past work. We also propose a novel exploration strategy for off-policy methods, based on local search in the target space with the use of a replay buffer, and show that it improves the quality of samples on a variety of target distributions. Our code for the sampling methods and benchmarks studied is made public at https://github.com/GFNOrg/gfn-diffusion as a base for future work on diffusion models for amortized inference.

Accounting for over 20% of the total carbon emissions, the precise estimation of on-road transportation carbon emissions is crucial for carbon emission monitoring and efficient mitigation policy formulation. However, existing estimation methods typically depend on hard-to-collect individual statistics of vehicle miles traveled to calculate emissions, thereby suffering from high data collection difficulty. To relieve this issue by utilizing the strong pattern recognition of artificial intelligence, we incorporate two sources of open data representative of the transportation demand and capacity factors, the origin-destination (OD) flow data and the road network data, to build a hierarchical heterogeneous graph learning method for on-road carbon emission estimation (HENCE). Specifically, a hierarchical graph consisting of the road network level, community level, and region level is constructed to model the multi-scale road network-based connectivity and travel connection between spatial areas. Heterogeneous graphs consisting of OD links and spatial links are further built at both the community level and region level to capture the intrinsic interactions between travel demand and road network accessibility. Extensive experiments on two large-scale real-world datasets demonstrate HENCE's effectiveness and superiority with R-squared exceeding 0.75 and outperforming baselines by 9.60% on average, validating its success in pioneering the use of artificial intelligence to empower carbon emission management and sustainability development. The implementation codes are available at this link: https://github.com/tsinghua-fib-lab/HENCE.

Over the past several decades, conventional spectral analysis techniques of polluted white dwarfs have become powerful tools to learn about the geology and chemistry of extrasolar bodies. Despite their proven capabilities and extensive legacy of scientific discoveries, these techniques are however still limited by their manual, time-intensive, and iterative nature. As a result, they are susceptible to human errors and are difficult to scale up to population-wide studies of metal pollution. This paper seeks to address this problem by presenting cecilia, the first Machine Learning (ML)-powered spectral modeling code designed to measure the metal abundances of intermediate-temperature (10,000$\leq T_{\rm eff} \leq$20,000 K), Helium-rich polluted white dwarfs. Trained with more than 22,000 randomly drawn atmosphere models and stellar parameters, our pipeline aims to overcome the limitations of classical methods by replacing the generation of synthetic spectra from computationally expensive codes and uniformly spaced model grids, with a fast, automated, and efficient neural-network-based interpolator. More specifically, cecilia combines state-of-the-art atmosphere models, powerful artificial intelligence tools, and robust statistical techniques to rapidly generate synthetic spectra of polluted white dwarfs in high-dimensional space, and enable accurate ($\lesssim$0.1 dex) and simultaneous measurements of 14 stellar parameters -- including 11 elemental abundances -- from real spectroscopic observations. As massively multiplexed astronomical surveys begin scientific operations, cecilia's performance has the potential to unlock large-scale studies of extrasolar geochemistry and propel the field of white dwarf science into the era of Big Data. In doing so, we aspire to uncover new statistical insights that were previously impractical with traditional white dwarf characterisation techniques.

In our effort to facilitate machine learning-assisted computational fluid dynamics (CFD), we introduce the second iteration of JAX-Fluids. JAX-Fluids is a Python-based fully-differentiable CFD solver designed for compressible single- and two-phase flows. In this work, the first version is extended to incorporate high-performance computing (HPC) capabilities. We introduce a parallelization strategy utilizing JAX primitive operations that scales efficiently on GPU (up to 512 NVIDIA A100 graphics cards) and TPU (up to 1024 TPU v3 cores) HPC systems. We further demonstrate the stable parallel computation of automatic differentiation gradients across extended integration trajectories. The new code version offers enhanced two-phase flow modeling capabilities. In particular, a five-equation diffuse-interface model is incorporated which complements the level-set sharp-interface model. Additional algorithmic improvements include positivity-preserving limiters for increased robustness, support for stretched Cartesian meshes, refactored I/O handling, comprehensive post-processing routines, and an updated list of state-of-the-art high-order numerical discretization schemes. We verify newly added numerical models by showcasing simulation results for single- and two-phase flows, including turbulent boundary layer and channel flows, air-helium shock bubble interactions, and air-water shock drop interactions.

The use of deep learning has become increasingly popular in reduced-order models (ROMs) to obtain low-dimensional representations of full-order models. Convolutional autoencoders (CAEs) are often used to this end as they are adept at handling data that are spatially distributed, including solutions to partial differential equations. When applied to unsteady physics problems, ROMs also require a model for time-series prediction of the low-dimensional latent variables. Long short-term memory (LSTM) networks, a type of recurrent neural network useful for modeling sequential data, are frequently employed in data-driven ROMs for autoregressive time-series prediction. When making predictions at unseen design points over long time horizons, error propagation is a frequently encountered issue, where errors made early on can compound over time and lead to large inaccuracies. In this work, we propose using bagging, a commonly used ensemble learning technique, to develop a fully data-driven ROM framework referred to as the CAE-eLSTM ROM that uses CAEs for spatial reconstruction of the full-order model and LSTM ensembles for time-series prediction. When applied to two unsteady fluid dynamics problems, our results show that the presented framework effectively reduces error propagation and leads to more accurate time-series prediction of latent variables at unseen points.

Smart cities stand as pivotal components in the ongoing pursuit of elevating urban living standards, facilitating the rapid expansion of urban areas while efficiently managing resources through sustainable and scalable innovations. In this regard, as emerging technologies like Artificial Intelligence (AI), the Internet of Things (IoT), big data analytics, and fog and edge computing have become increasingly prevalent, smart city applications grapple with various challenges, including the potential for unauthorized disclosure of confidential and sensitive data. The seamless integration of emerging technologies has played a vital role in sustaining the dynamic pace of their development. This paper explores the substantial potential and applications of Deep Learning (DL), Federated Learning (FL), IoT, Blockchain, Natural Language Processing (NLP), and large language models (LLMs) in optimizing ICT processes within smart cities. We aim to spotlight the vast potential of these technologies as foundational elements that technically strengthen the realization and advancement of smart cities, underscoring their significance in driving innovation within this transformative urban milieu. Our discourse culminates with an exploration of the formidable challenges that DL, FL, IoT, Blockchain, NLP, and LLMs face within these contexts, and we offer insights into potential future directions.

In this work we propose a new online, low cost and fast approach based on computer vision and machine learning to determine whether cutting tools used in edge profile milling processes are serviceable or disposable based on their wear level. We created a new dataset of 254 images of edge profile cutting heads which is, to the best of our knowledge, the first publicly available dataset with enough quality for this purpose. All the inserts were segmented and their cutting edges were cropped, obtaining 577 images of cutting edges: 301 functional and 276 disposable. The proposed method is based on (1) dividing the cutting edge image in different regions, called Wear Patches (WP), (2) characterising each one as worn or serviceable using texture descriptors based on different variants of Local Binary Patterns (LBP) and (3) determine, based on the state of these WP, if the cutting edge (and, therefore, the tool) is serviceable or disposable. We proposed and assessed five different patch division configurations. The individual WP were classified by a Support Vector Machine (SVM) with an intersection kernel. The best patch division configuration and texture descriptor for the WP achieves an accuracy of 90.26% in the detection of the disposable cutting edges. These results show a very promising opportunity for automatic wear monitoring in edge profile milling processes.