The localization of objects is a crucial task in various applications such as robotics, virtual and augmented reality, and the transportation of goods in warehouses. Recent advances in deep learning have enabled the localization using monocular visual cameras. While structure from motion (SfM) predicts the absolute pose from a point cloud, absolute pose regression (APR) methods learn a semantic understanding of the environment through neural networks. However, both fields face challenges caused by the environment such as motion blur, lighting changes, repetitive patterns, and feature-less structures. This study aims to address these challenges by incorporating additional information and regularizing the absolute pose using relative pose regression (RPR) methods. RPR methods suffer under different challenges, i.e., motion blur. The optical flow between consecutive images is computed using the Lucas-Kanade algorithm, and the relative pose is predicted using an auxiliary small recurrent convolutional network. The fusion of absolute and relative poses is a complex task due to the mismatch between the global and local coordinate systems. State-of-the-art methods fusing absolute and relative poses use pose graph optimization (PGO) to regularize the absolute pose predictions using relative poses. In this work, we propose recurrent fusion networks to optimally align absolute and relative pose predictions to improve the absolute pose prediction. We evaluate eight different recurrent units and construct a simulation environment to pre-train the APR and RPR networks for better generalized training. Additionally, we record a large database of different scenarios in a challenging large-scale indoor environment that mimics a warehouse with transportation robots. We conduct hyperparameter searches and experiments to show the effectiveness of our recurrent fusion method compared to PGO.

Energy hubs convert and distribute energy resources by combining different energy inputs through multiple conversion and storage components. The optimal operation of the energy hub exploits its flexibility to increase the energy efficiency and reduce the operational costs. However, uncertainties in the demand present challenges to energy hub optimization. In this paper, we propose a stochastic MPC controller to minimize energy costs using chance constraints for the uncertain electricity and thermal demands. Historical data is used to build a demand prediction model based on Gaussian processes to generate a forecast of the future electricity and heat demands. The stochastic optimization problem is solved via the Scenario Approach by sampling multi-step demand trajectories from the derived prediction model. The performance of the proposed predictor and of the stochastic controller is verified on a simulated energy hub model and demand data from a real building.

We present a novel method for mining opinions from text collections using generative language models trained on data collected from different populations. We describe the basic definitions, methodology and a generic algorithm for opinion insight mining. We demonstrate the performance of our method in an experiment where a pre-trained generative model is fine-tuned using specifically tailored content with unnatural and fully annotated opinions. We show that our approach can learn and transfer the opinions to the semantic classes while maintaining the proportion of polarisation. Finally, we demonstrate the usage of an insight mining system to scale up the discovery of opinion insights from a real text corpus.

Data-driven FWI has been increasingly studied with various neural network architectures to improve accuracy and computational efficiency. Nevertheless, the applicability of pre-trained neural networks is severely restricted by potential discrepancies between the source function used in the field survey and the one utilized during training. Here, we develop a Fourier-enhanced deep operator network (Fourier-DeepONet) for FWI with the generalization of seismic sources, including the frequencies and locations of sources. Specifically, we employ the Fourier neural operator as the decoder of DeepONet, and we utilize source parameters as one input of Fourier-DeepONet, facilitating the resolution of FWI with variable sources. To test Fourier-DeepONet, we develop three new and realistic FWI benchmark datasets (FWI-F, FWI-L, and FWI-FL) with varying source frequencies, locations, or both. Our experiments demonstrate that compared with existing data-driven FWI methods, Fourier-DeepONet obtains more accurate predictions of subsurface structures in a wide range of source parameters. Moreover, the proposed Fourier-DeepONet exhibits superior robustness when handling data with Gaussian noise or missing traces and sources with Gaussian noise, paving the way for more reliable and accurate subsurface imaging across diverse real conditions.

Machine learning (ML) is widely used to explore crystal materials and predict their properties. However, the training is time-consuming for deep-learning models, and the regression process is a black box that is hard to interpret. Also, the preprocess to transfer a crystal structure into the input of ML, called descriptor, needs to be designed carefully. To efficiently predict important properties of materials, we propose an approach based on ensemble learning consisting of regression trees to predict formation energy and elastic constants based on small-size datasets of carbon allotropes as an example. Without using any descriptor, the inputs are the properties calculated by molecular dynamics with 9 different classical interatomic potentials. Overall, the results from ensemble learning are more accurate than those from classical interatomic potentials, and ensemble learning can capture the relatively accurate properties from the 9 classical potentials as criteria for predicting the final properties.

We study the binary and continuous negative-margin perceptrons as simple non-convex neural network models learning random rules and associations. We analyze the geometry of the landscape of solutions in both models and find important similarities and differences. Both models exhibit subdominant minimizers which are extremely flat and wide. These minimizers coexist with a background of dominant solutions which are composed by an exponential number of algorithmically inaccessible small clusters for the binary case (the frozen 1-RSB phase) or a hierarchical structure of clusters of different sizes for the spherical case (the full RSB phase). In both cases, when a certain threshold in constraint density is crossed, the local entropy of the wide flat minima becomes non-monotonic, indicating a break-up of the space of robust solutions into disconnected components. This has a strong impact on the behavior of algorithms in binary models, which cannot access the remaining isolated clusters. For the spherical case the behaviour is different, since even beyond the disappearance of the wide flat minima the remaining solutions are shown to always be surrounded by a large number of other solutions at any distance, up to capacity. Indeed, we exhibit numerical evidence that algorithms seem to find solutions up to the SAT/UNSAT transition, that we compute here using an 1RSB approximation. For both models, the generalization performance as a learning device is shown to be greatly improved by the existence of wide flat minimizers even when trained in the highly underconstrained regime of very negative margins.

The transition to a sustainable energy supply challenges the operation of electric power systems in manifold ways. Transmission grid loads increase as wind and solar power are often installed far away from the consumers. In extreme cases, system operators must intervene via countertrading or redispatch to ensure grid stability. In this article, we provide a data-driven analysis of congestion in the German transmission grid. We develop an explainable machine learning model to predict the volume of redispatch and countertrade on an hourly basis. The model reveals factors that drive or mitigate grid congestion and quantifies their impact. We show that, as expected, wind power generation is the main driver, but hydropower and cross-border electricity trading also play an essential role. Solar power, on the other hand, has no mitigating effect. Our results suggest that a change to the market design would alleviate congestion.

In the context of sixth-generation (6G) networks, where diverse network slices coexist, the adoption of AI-driven zero-touch management and orchestration (MANO) becomes crucial. However, ensuring the trustworthiness of AI black-boxes in real deployments is challenging. Explainable AI (XAI) tools can play a vital role in establishing transparency among the stakeholders in the slicing ecosystem. But there is a trade-off between AI performance and explainability, posing a dilemma for trustworthy 6G network slicing because the stakeholders require both highly performing AI models for efficient resource allocation and explainable decision-making to ensure fairness, accountability, and compliance. To balance this trade off and inspired by the closed loop automation and XAI methodologies, this paper presents a novel explanation-guided in-hoc federated learning (FL) approach where a constrained resource allocation model and an explainer exchange -- in a closed loop (CL) fashion -- soft attributions of the features as well as inference predictions to achieve a transparent 6G network slicing resource management in a RAN-Edge setup under non-independent identically distributed (non-IID) datasets. In particular, we quantitatively validate the faithfulness of the explanations via the so-called attribution-based confidence metric that is included as a constraint to guide the overall training process in the run-time FL optimization task. In this respect, Integrated-Gradient (IG) as well as Input $\times$ Gradient and SHAP are used to generate the attributions for our proposed in-hoc scheme, wherefore simulation results under different methods confirm its success in tackling the performance-explainability trade-off and its superiority over the unconstrained Integrated-Gradient post-hoc FL baseline.

Identifying disturbances in network-coupled dynamical systems without knowledge of the disturbances or underlying dynamics is a problem with a wide range of applications. For example, one might want to know which nodes in the network are being disturbed and identify the type of disturbance. Here we present a model-free method based on machine learning to identify such unknown disturbances based only on prior observations of the system when forced by a known training function. We find that this method is able to identify the locations and properties of many different types of unknown disturbances using a variety of known forcing functions. We illustrate our results both with linear and nonlinear disturbances using food web and neuronal activity models. Finally, we discuss how to scale our method to large networks.

An effective interdisciplinary study between machine learning and solar-thermal desalination requires a sufficiently large and well-analyzed experimental datasets. This study develops a modified dataset collection and analysis process for studying solar-thermal desalination by machine learning. Based on the optimized water condensation and collection process, the proposed experimental method collects over one thousand datasets, which is ten times more than the average number of datasets in previous works, by accelerating data collection and reducing the time by 83.3%. On the other hand, the effects of dataset features are investigated by using three different algorithms, including artificial neural networks, multiple linear regressions, and random forests. The investigation focuses on the effects of dataset size and range on prediction accuracy, factor importance ranking, and the model's generalization ability. The results demonstrate that a larger dataset can significantly improve prediction accuracy when using artificial neural networks and random forests. Additionally, the study highlights the significant impact of dataset size and range on ranking the importance of influence factors. Furthermore, the study reveals that the extrapolation data range significantly affects the extrapolation accuracy of artificial neural networks. Based on the results, massive dataset collection and analysis of dataset feature effects are important steps in an effective and consistent machine learning process flow for solar-thermal desalination, which can promote machine learning as a more general tool in the field of solar-thermal desalination.