Drones have the potential to revolutionize power line inspection by increasing productivity, reducing inspection time, improving data quality, and eliminating the risks for human operators. Current state-of-the-art systems for power line inspection have two shortcomings: (i) control is decoupled from perception and needs accurate information about the location of the power lines and masts; (ii) obstacle avoidance is decoupled from the power line tracking, which results in poor tracking in the vicinity of the power masts, and, consequently, in decreased data quality for visual inspection. In this work, we propose a model predictive controller (MPC) that overcomes these limitations by tightly coupling perception and action. Our controller generates commands that maximize the visibility of the power lines while, at the same time, safely avoiding the power masts. For power line detection, we propose a lightweight learning-based detector that is trained only on synthetic data and is able to transfer zero-shot to real-world power line images. We validate our system in simulation and real-world experiments on a mock-up power line infrastructure. We release our code and datasets to the public.

Motion planning has been an important research topic in achieving safe and flexible maneuvers for intelligent vehicles. However, it remains challenging to realize efficient and optimal planning in the presence of uncertain model dynamics. In this paper, a sparse kernel-based reinforcement learning (RL) algorithm with Gaussian Process (GP) Regression (called GP-SKRL) is proposed to achieve online adaption and near-optimal motion planning performance. In this algorithm, we design an efficient sparse GP regression method to learn the uncertain dynamics. Based on the updated model, a sparse kernel-based policy iteration algorithm with an exponential barrier function is designed to learn the near-optimal planning policies with the capability to avoid dynamic obstacles. Thereby, batch-mode GP-SKRL with online adaption capability can estimate the changing system dynamics. The converged RL policies are then deployed on vehicles efficiently under a safety-aware module. As a result, the produced driving actions are safe and less conservative, and the planning performance has been noticeably improved. Extensive simulation results show that GP-SKRL outperforms several advanced motion planning methods in terms of average cumulative cost, trajectory length, and task completion time. In particular, experiments on a Hongqi E-HS3 vehicle demonstrate that superior GP-SKRL provides a practical planning solution.

Physics-informed neural networks have been widely applied to partial differential equations with great success because the physics-informed loss essentially requires no observations or discretization. However, it is difficult to optimize model parameters, and these parameters must be trained for each distinct initial condition. To overcome these challenges in second-order reaction-diffusion type equations, a possible way is to use five-point stencil convolutional neural networks (FCNNs). FCNNs are trained using two consecutive snapshots, where the time step corresponds to the step size of the given snapshots. Thus, the time evolution of FCNNs depends on the time step, and the time step must satisfy its CFL condition to avoid blow-up solutions. In this work, we propose deep FCNNs that have large receptive fields to predict time evolutions with a time step larger than the threshold of the CFL condition. To evaluate our models, we consider the heat, Fisher's, and Allen-Cahn equations with diverse initial conditions. We demonstrate that deep FCNNs retain certain accuracies, in contrast to FDMs that blow up.

StorSeismic is a recently introduced model based on the Transformer to adapt to various seismic processing tasks through its pretraining and fine-tuning training strategy. In the original implementation, StorSeismic utilized a sinusoidal positional encoding and a conventional self-attention mechanism, both borrowed from the natural language processing (NLP) applications. For seismic processing they admitted good results, but also hinted to limitations in efficiency and expressiveness. We propose modifications to these two key components, by utilizing relative positional encoding and low-rank attention matrices as replacements to the vanilla ones. The proposed changes are tested on processing tasks applied to a realistic Marmousi and offshore field data as a sequential strategy, starting from denoising, direct arrival removal, multiple attenuation, and finally root-mean-squared velocity ($V_{RMS}$) prediction for normal moveout (NMO) correction. We observe faster pretraining and competitive results on the fine-tuning tasks and, additionally, fewer parameters to train compared to the vanilla model.

Information retrieval (IR) or knowledge retrieval, is a critical component for many down-stream tasks such as open-domain question answering (QA). It is also very challenging, as it requires succinctness, completeness, and correctness. In recent works, dense retrieval models have achieved state-of-the-art (SOTA) performance on in-domain IR and QA benchmarks by representing queries and knowledge passages with dense vectors and learning the lexical and semantic similarity. However, using single dense vectors and end-to-end supervision are not always optimal because queries may require attention to multiple aspects and event implicit knowledge. In this work, we propose an information retrieval pipeline that uses entity/event linking model and query decomposition model to focus more accurately on different information units of the query. We show that, while being more interpretable and reliable, our proposed pipeline significantly improves passage coverages and denotation accuracies across five IR and QA benchmarks. It will be the go-to system to use for applications that need to perform IR on a new domain without much dedicated effort, because of its superior interpretability and cross-domain performance.

The application of 3D ground-penetrating radar (3D-GPR) for subgrade distress detection has gained widespread popularity. To enhance the efficiency and accuracy of detection, pioneering studies have attempted to adopt automatic detection techniques, particularly deep learning. However, existing works typically rely on traditional 1D A-scan, 2D B-scan or 3D C-scan data of the GPR, resulting in either insufficient spatial information or high computational complexity. To address these challenges, we introduce a novel methodology for the subgrade distress detection task by leveraging the multi-view information from 3D-GPR data. Moreover, we construct a real multi-view image dataset derived from the original 3D-GPR data for the detection task, which provides richer spatial information compared to A-scan and B-scan data, while reducing computational complexity compared to C-scan data. Subsequently, we develop a novel \textbf{M}ulti-\textbf{V}iew \textbf{V}usion and \textbf{D}istillation framework, \textbf{GPR-MVFD}, specifically designed to optimally utilize the multi-view GPR dataset. This framework ingeniously incorporates multi-view distillation and attention-based fusion to facilitate significant feature extraction for subgrade distresses. In addition, a self-adaptive learning mechanism is adopted to stabilize the model training and prevent performance degeneration in each branch. Extensive experiments conducted on this new GPR benchmark demonstrate the effectiveness and efficiency of our proposed framework. Our framework outperforms not only the existing GPR baselines, but also the state-of-the-art methods in the fields of multi-view learning, multi-modal learning, and knowledge distillation. We will release the constructed multi-view GPR dataset with expert-annotated labels and the source codes of the proposed framework.

Very distinct strategies can be deployed to recognize and characterize an unknown environment or a shape. A recent and promising approach, especially in robotics, is to reduce the complexity of the exploratory units to a minimum. Here, we show that this frugal strategy can be taken to the extreme by exploiting the power of statistical geometry and introducing new invariant features. We show that an elementary robot devoid of any orientation or observation system, exploring randomly, can access global information about an environment such as the values of the explored area and perimeter. The explored shapes are of arbitrary geometry and may even non-connected. From a dictionary, this most simple robot can thus identify various shapes such as famous monuments and even read a text.

In order to respond effectively in the aftermath of a disaster, emergency services and relief organizations rely on timely and accurate information about the affected areas. Remote sensing has the potential to significantly reduce the time and effort required to collect such information by enabling a rapid survey of large areas. To achieve this, the main challenge is the automatic extraction of relevant information from remotely sensed data. In this work, we show how the combination of drone-based data with deep learning methods enables automated and large-scale situation assessment. In addition, we demonstrate the integration of onboard image processing techniques for the deployment of autonomous drone-based aid delivery. The results show the feasibility of a rapid and large-scale image analysis in the field, and that onboard image processing can increase the safety of drone-based aid deliveries.

Federated learning (FL) has found many successes in wireless networks; however, the implementation of FL has been hindered by the energy limitation of mobile devices (MDs) and the availability of training data at MDs. How to integrate wireless power transfer and mobile crowdsensing towards sustainable FL solutions is a research topic entirely missing from the open literature. This work for the first time investigates a resource allocation problem in collaborative sensing-assisted sustainable FL (S2FL) networks with the goal of minimizing the total completion time. We investigate a practical harvesting-sensing-training-transmitting protocol in which energy-limited MDs first harvest energy from RF signals, use it to gain a reward for user participation, sense the training data from the environment, train the local models at MDs, and transmit the model updates to the server. The total completion time minimization problem of jointly optimizing power transfer, transmit power allocation, data sensing, bandwidth allocation, local model training, and data transmission is complicated due to the non-convex objective function, highly non-convex constraints, and strongly coupled variables. We propose a computationally-efficient path-following algorithm to obtain the optimal solution via the decomposition technique. In particular, inner convex approximations are developed for the resource allocation subproblem, and the subproblems are performed alternatively in an iterative fashion. Simulation results are provided to evaluate the effectiveness of the proposed S2FL algorithm in reducing the completion time up to 21.45% in comparison with other benchmark schemes. Further, we investigate an extension of our work from frequency division multiple access (FDMA) to non-orthogonal multiple access (NOMA) and show that NOMA can speed up the total completion time 8.36% on average of the considered FL system.

Metaverse enables users to communicate, collaborate and socialize with each other through their digital avatars. Due to the spatio-temporal characteristics, co-located users are served well by performing their software components in a collaborative manner such that a Metaverse service provider (MSP) eliminates redundant data transmission and processing, ultimately reducing the total energy consumption. The energyefficient service provision is crucial for enabling the green and sustainable Metaverse. In this article, we take an augmented reality (AR) application as an example to achieve this goal. Moreover, we study an economic issue on how the users reserve offloading services from the MSP and how the MSP determines an optimal charging price since each user is rational to decide whether to accept the offloading service by taking into account the monetary cost. A single-leader multi-follower Stackelberg game is formulated between the MSP and users while each user optimizes an offloading probability to minimize the weighted sum of time, energy consumption and monetary cost. Numerical results show that our scheme achieves energy savings and satisfies individual rationality simultaneously compared with the conventional schemes. Finally, we identify and discuss open directions on how several emerging technologies are combined with the sustainable green Metaverse.