Loco-manipulation planning skills are pivotal for expanding the utility of robots in everyday environments. These skills can be assessed based on a system's ability to coordinate complex holistic movements and multiple contact interactions when solving different tasks. However, existing approaches have been merely able to shape such behaviors with hand-crafted state machines, densely engineered rewards, or pre-recorded expert demonstrations. Here, we propose a minimally-guided framework that automatically discovers whole-body trajectories jointly with contact schedules for solving general loco-manipulation tasks in pre-modeled environments. The key insight is that multi-modal problems of this nature can be formulated and treated within the context of integrated Task and Motion Planning (TAMP). An effective bilevel search strategy is achieved by incorporating domain-specific rules and adequately combining the strengths of different planning techniques: trajectory optimization and informed graph search coupled with sampling-based planning. We showcase emergent behaviors for a quadrupedal mobile manipulator exploiting both prehensile and non-prehensile interactions to perform real-world tasks such as opening/closing heavy dishwashers and traversing spring-loaded doors. These behaviors are also deployed on the real system using a two-layer whole-body tracking controller.

We introduce a simple yet effective early fusion method for crop yield prediction that handles multiple input modalities with different temporal and spatial resolutions. We use high-resolution crop yield maps as ground truth data to train crop and machine learning model agnostic methods at the sub-field level. We use Sentinel-2 satellite imagery as the primary modality for input data with other complementary modalities, including weather, soil, and DEM data. The proposed method uses input modalities available with global coverage, making the framework globally scalable. We explicitly highlight the importance of input modalities for crop yield prediction and emphasize that the best-performing combination of input modalities depends on region, crop, and chosen model.

In this work, we propose trait-based merge trees a generalization of merge trees to feature level sets, targeting the analysis of tensor field or general multi-variate data. For this, we employ the notion of traits defined in attribute space as introduced in the feature level sets framework. The resulting distance field in attribute space induces a scalar field in the spatial domain that serves as input for topological data analysis. The leaves in the merge tree represent those areas in the input data that are closest to the defined trait and thus most closely resemble the defined feature. Hence, the merge tree yields a hierarchy of features that allows for querying the most relevant and persistent features. The presented method includes different query methods for the tree which enable the highlighting of different aspects. We demonstrate the cross-application capabilities of this approach with three case studies from different domains.

End-to-end driving systems have recently made rapid progress, in particular on CARLA. Independent of their major contribution, they introduce changes to minor system components. Consequently, the source of improvements is unclear. We identify two biases that recur in nearly all state-of-the-art methods and are critical for the observed progress on CARLA: (1) lateral recovery via a strong inductive bias towards target point following, and (2) longitudinal averaging of multimodal waypoint predictions for slowing down. We investigate the drawbacks of these biases and identify principled alternatives. By incorporating our insights, we develop TF++, a simple end-to-end method that ranks first on the Longest6 and LAV benchmarks, gaining 11 driving score over the best prior work on Longest6.

Dairy farming is a particularly energy-intensive part of the agriculture sector. Effective battery management is essential for renewable integration within the agriculture sector. However, controlling battery charging/discharging is a difficult task due to electricity demand variability, stochasticity of renewable generation, and energy price fluctuations. Despite the potential benefits of applying Artificial Intelligence (AI) to renewable energy in the context of dairy farming, there has been limited research in this area. This research is a priority for Ireland as it strives to meet its governmental goals in energy and sustainability. This research paper utilizes Q-learning to learn an effective policy for charging and discharging a battery within a dairy farm setting. The results demonstrate that the developed policy significantly reduces electricity costs compared to the established baseline algorithm. These findings highlight the effectiveness of reinforcement learning for battery management within the dairy farming sector.

Modern large-scale scientific discovery requires multidisciplinary collaboration across diverse computing facilities, including High Performance Computing (HPC) machines and the Edge-to-Cloud continuum. Integrated data analysis plays a crucial role in scientific discovery, especially in the current AI era, by enabling Responsible AI development, FAIR, Reproducibility, and User Steering. However, the heterogeneous nature of science poses challenges such as dealing with multiple supporting tools, cross-facility environments, and efficient HPC execution. Building on data observability, adapter system design, and provenance, we propose MIDA: an approach for lightweight runtime Multi-workflow Integrated Data Analysis. MIDA defines data observability strategies and adaptability methods for various parallel systems and machine learning tools. With observability, it intercepts the dataflows in the background without requiring instrumentation while integrating domain, provenance, and telemetry data at runtime into a unified database ready for user steering queries. We conduct experiments showing end-to-end multi-workflow analysis integrating data from Dask and MLFlow in a real distributed deep learning use case for materials science that runs on multiple environments with up to 276 GPUs in parallel. We show near-zero overhead running up to 100,000 tasks on 1,680 CPU cores on the Summit supercomputer.

Biohybrid systems in which robotic lures interact with animals have become compelling tools for probing and identifying the mechanisms underlying collective animal behavior. One key challenge lies in the transfer of social interaction models from simulations to reality, using robotics to validate the modeling hypotheses. This challenge arises in bridging what we term the "biomimicry gap", which is caused by imperfect robotic replicas, communication cues and physics constrains not incorporated in the simulations that may elicit unrealistic behavioral responses in animals. In this work, we used a biomimetic lure of a rummy-nose tetra fish (Hemigrammus rhodostomus) and a neural network (NN) model for generating biomimetic social interactions. Through experiments with a biohybrid pair comprising a fish and the robotic lure, a pair of real fish, and simulations of pairs of fish, we demonstrate that our biohybrid system generates high-fidelity social interactions mirroring those of genuine fish pairs. Our analyses highlight that: 1) the lure and NN maintain minimal deviation in real-world interactions compared to simulations and fish-only experiments, 2) our NN controls the robot efficiently in real-time, and 3) a comprehensive validation is crucial to bridge the biomimicry gap, ensuring realistic biohybrid systems.

Wildfire forecasting problems usually rely on complex grid-based mathematical models, mostly involving Computational fluid dynamics(CFD) and Celluar Automata, but these methods have always been computationally expensive and difficult to deliver a fast decision pattern. In this paper, we provide machine learning based approaches that solve the problem of high computational effort and time consumption. This paper predicts the burning duration of a known wildfire by RF(random forest), KNN, and XGBoost regression models and also image-based, like CNN and Encoder. Model inputs are based on the map of landscape features provided by satellites and the corresponding historical fire data in this area. This model is trained by happened fire data and landform feature maps and tested with the most recent real value in the same area. By processing the input differently to obtain the optimal outcome, the system is able to make fast and relatively accurate future predictions based on landscape images of known fires.

Tipping points are abrupt, drastic, and often irreversible changes in the evolution of non-stationary and chaotic dynamical systems. For instance, increased greenhouse gas concentrations are predicted to lead to drastic decreases in low cloud cover, referred to as a climatological tipping point. In this paper, we learn the evolution of such non-stationary dynamical systems using a novel recurrent neural operator (RNO), which learns mappings between function spaces. After training RNO on only the pre-tipping dynamics, we employ it to detect future tipping points using an uncertainty-based approach. In particular, we propose a conformal prediction framework to forecast tipping points by monitoring deviations from physics constraints (such as conserved quantities and partial differential equations), enabling forecasting of these abrupt changes along with a rigorous measure of uncertainty. We illustrate our proposed methodology on non-stationary ordinary and partial differential equations, such as the Lorenz-63 and Kuramoto-Sivashinsky equations. We also apply our methods to forecast a climate tipping point in stratocumulus cloud cover. In our experiments, we demonstrate that even partial or approximate physics constraints can be used to accurately forecast future tipping points.

In recent years, researchers proposed a variety of deep learning models for wind power forecasting. These models predict the wind power generation of wind farms or entire regions more accurately than traditional machine learning algorithms or physical models. However, latest research has shown that deep learning models can often be manipulated by adversarial attacks. Since wind power forecasts are essential for the stability of modern power systems, it is important to protect them from this threat. In this work, we investigate the vulnerability of two different forecasting models to targeted, semi-targeted, and untargeted adversarial attacks. We consider a Long Short-Term Memory (LSTM) network for predicting the power generation of individual wind farms and a Convolutional Neural Network (CNN) for forecasting the wind power generation throughout Germany. Moreover, we propose the Total Adversarial Robustness Score (TARS), an evaluation metric for quantifying the robustness of regression models to targeted and semi-targeted adversarial attacks. It assesses the impact of attacks on the model's performance, as well as the extent to which the attacker's goal was achieved, by assigning a score between 0 (very vulnerable) and 1 (very robust). In our experiments, the LSTM forecasting model was fairly robust and achieved a TARS value of over 0.78 for all adversarial attacks investigated. The CNN forecasting model only achieved TARS values below 0.10 when trained ordinarily, and was thus very vulnerable. Yet, its robustness could be significantly improved by adversarial training, which always resulted in a TARS above 0.46.