Planning and control for uncertain contact systems is challenging as it is not clear how to propagate uncertainty for planning. Contact-rich tasks can be modeled efficiently using complementarity constraints among other techniques. In this paper, we present a stochastic optimization technique with chance constraints for systems with stochastic complementarity constraints. We use a particle filter-based approach to propagate moments for stochastic complementarity system. To circumvent the issues of open-loop chance constrained planning, we propose a contact-aware controller for covariance steering of the complementarity system. Our optimization problem is formulated as Non-Linear Programming (NLP) using bilevel optimization. We present an important-particle algorithm for numerical efficiency for the underlying control problem. We verify that our contact-aware closed-loop controller is able to steer the covariance of the states under stochastic contact-rich tasks.

Check out what's clicking on Foxnews.com. Russia stepped up its missile and drone attacks against Ukraine on Wednesday, killing students and other civilians, in a violent follow-up to dueling high-level diplomatic missions aimed at bringing peace after 13 months of war. "Russia is shelling the city with bestial savagery," President Volodymyr Zelenskyy wrote in a Telegram post accompanying video showing what he said was a Russian missile striking a nine-story apartment building on a busy road in the southeastern city of Zaporizhzhia. "Residential areas where ordinary people and children live are being fired at." At least one person was killed in the attack shown in the Zaporizhzhia video, apparently recorded by closed circuit TV cameras.

CellBlock Fire Containment Systems announced its modular battery charging rack has obtained regulatory approval by the FDNY for use in charging lithium-ion batteries. The Charge Safe Battery Rack is the first and only approved system allowing for the bypass of NYC fire code 309.3, requiring 2 feet of separation between charging batteries not only adjacent but omnidirectional. "Our team is excited to not only offer safety in storage but passive fire suppression and measurable cost savings as perhaps the most impressive added value." "Until now, even a fortified 10 10 battery fire area would be spatially inadequate for 50kWh of stored energy. Our system is not only the safest charging system, it requires 1/12th the space" said Dylan Vandemark, CellBlock FCS CTO and Founder.

Exoskeletons and orthoses are wearable mobile systems providing mechanical benefits to the users. Despite significant improvements in the last decades, the technology is not fully mature to be adopted for strenuous and non-programmed tasks. To accommodate this insufficiency, different aspects of this technology need to be analysed and improved. Numerous studies have tried to address some aspects of exoskeletons, e.g. mechanism design, intent prediction, and control scheme. However, most works have focused on a specific element of design or application without providing a comprehensive review framework. This study aims to analyse and survey the contributing aspects to this technology's improvement and broad adoption. To address this, after introducing assistive devices and exoskeletons, the main design criteria will be investigated from both physical Human-Robot Interaction (HRI) perspectives. In order to establish an intelligent HRI strategy and enable intuitive control for users, cognitive HRI will be investigated after a brief introduction to various approaches to their control strategies. The study will be further developed by outlining several examples of known assistive devices in different categories. And some guidelines for exoskeleton selection and possible mitigation of current limitations will be discussed.

Many autonomous agents, such as intelligent vehicles, are inherently required to interact with one another. Game theory provides a natural mathematical tool for robot motion planning in such interactive settings. However, tractable algorithms for such problems usually rely on a strong assumption, namely that the objectives of all players in the scene are known. To make such tools applicable for ego-centric planning with only local information, we propose an adaptive model-predictive game solver, which jointly infers other players' objectives online and computes a corresponding generalized Nash equilibrium (GNE) strategy. The adaptivity of our approach is enabled by a differentiable trajectory game solver whose gradient signal is used for maximum likelihood estimation (MLE) of opponents' objectives. This differentiability of our pipeline facilitates direct integration with other differentiable elements, such as neural networks (NNs). Furthermore, in contrast to existing solvers for cost inference in games, our method handles not only partial state observations but also general inequality constraints. In two simulated traffic scenarios, we find superior performance of our approach over both existing game-theoretic methods and non-game-theoretic model-predictive control (MPC) approaches. We also demonstrate our approach's real-time planning capabilities and robustness in two hardware experiments.

Event-based cameras offer reliable measurements for preforming computer vision tasks in high-dynamic range environments and during fast motion maneuvers. However, adopting deep learning in event-based vision faces the challenge of annotated data scarcity due to recency of event cameras. Transferring the knowledge that can be obtained from conventional camera annotated data offers a practical solution to this challenge. We develop an unsupervised domain adaptation algorithm for training a deep network for event-based data image classification using contrastive learning and uncorrelated conditioning of data. Our solution outperforms the existing algorithms for this purpose.

Access to complete data in large-scale networks is often infeasible. Therefore, the problem of missing data is a crucial and unavoidable issue in the analysis and modeling of real-world social networks. However, most of the research on different aspects of social networks does not consider this limitation. One effective way to solve this problem is to recover the missing data as a pre-processing step. In this paper, a model is learned from partially observed data to infer unobserved diffusion and structure networks. To jointly discover omitted diffusion activities and hidden network structures, we develop a probabilistic generative model called "DiffStru." The interrelations among links of nodes and cascade processes are utilized in the proposed method via learning coupled with low-dimensional latent factors. Besides inferring unseen data, latent factors such as community detection may also aid in network classification problems. We tested different missing data scenarios on simulated independent cascades over LFR networks and real datasets, including Twitter and Memtracker. Experiments on these synthetic and real-world datasets show that the proposed method successfully detects invisible social behaviors, predicts links, and identifies latent features.

With the continuous growth in communication network complexity and traffic volume, communication load balancing solutions are receiving increasing attention. Specifically, reinforcement learning (RL)-based methods have shown impressive performance compared with traditional rule-based methods. However, standard RL methods generally require an enormous amount of data to train, and generalize poorly to scenarios that are not encountered during training. We propose a policy reuse framework in which a policy selector chooses the most suitable pre-trained RL policy to execute based on the current traffic condition. Our method hinges on a policy bank composed of policies trained on a diverse set of traffic scenarios. When deploying to an unknown traffic scenario, we select a policy from the policy bank based on the similarity between the previous-day traffic of the current scenario and the traffic observed during training. Experiments demonstrate that this framework can outperform classical and adaptive rule-based methods by a large margin.

Artificial intelligence methods show great promise in increasing the quality and speed of work with large astronomical datasets, but the high complexity of these methods leads to the extraction of dataset-specific, nonrobust features. Therefore, such methods do not generalize well across multiple datasets. We present a universal domain adaptation method, DeepAstroUDA, as an approach to overcome this challenge. This algorithm performs semi-supervised domain adaptation and can be applied to datasets with different data distributions and class overlaps. Non-overlapping classes can be present in any of the two datasets (the labeled source domain, or the unlabeled target domain), and the method can even be used in the presence of unknown classes. We apply our method to three examples of galaxy morphology classification tasks of different complexities (3-class and 10-class problems), with anomaly detection: 1) datasets created after different numbers of observing years from a single survey (LSST mock data of 1 and 10 years of observations); 2) data from different surveys (SDSS and DECaLS); and 3) data from observing fields with different depths within one survey (wide field and Stripe 82 deep field of SDSS). For the first time, we demonstrate the successful use of domain adaptation between very discrepant observational datasets. DeepAstroUDA is capable of bridging the gap between two astronomical surveys, increasing classification accuracy in both domains (up to 40% on the unlabeled data), and making model performance consistent across datasets. Furthermore, our method also performs well as an anomaly detection algorithm and successfully clusters unknown class samples even in the unlabeled target dataset.

Communication load balancing aims to balance the load between different available resources, and thus improve the quality of service for network systems. After formulating the load balancing (LB) as a Markov decision process problem, reinforcement learning (RL) has recently proven effective in addressing the LB problem. To leverage the benefits of classical RL for load balancing, however, we need an explicit reward definition. Engineering this reward function is challenging, because it involves the need for expert knowledge and there lacks a general consensus on the form of an optimal reward function. In this work, we tackle the communication load balancing problem from an inverse reinforcement learning (IRL) approach. To the best of our knowledge, this is the first time IRL has been successfully applied in the field of communication load balancing. Specifically, first, we infer a reward function from a set of demonstrations, and then learn a reinforcement learning load balancing policy with the inferred reward function. Compared to classical RL-based solution, the proposed solution can be more general and more suitable for real-world scenarios. Experimental evaluations implemented on different simulated traffic scenarios have shown our method to be effective and better than other baselines by a considerable margin.