We introduce a novel variant of GNN for particle tracking--called Hierarchical Graph Neural Network (HGNN). The architecture creates a set of higher-level representations which correspond to tracks and assigns spacepoints to these tracks, allowing disconnected spacepoints to be assigned to the same track, as well as multiple tracks to share the same spacepoint. We propose a novel learnable pooling algorithm called GMPool to generate these higher-level representations called "super-nodes", as well as a new loss function designed for tracking problems and HGNN specifically. On a standard tracking problem, we show that, compared with previous ML-based tracking algorithms, the HGNN has better tracking efficiency performance, better robustness against inefficient input graphs, and better convergence compared with traditional GNNs.

Tesla's production capacities are in store for a significant growth spurt, CEO Elon Musk told the crowd assembled at the company's Austin, Texas Gigafactory for Investor Day 2023 -- and AI will apparently be the magic bullet that gets them there. It's all part of what Musk is calling Master Plan part 3. This is indeed Musk's third such Master Plan, the first two coming in 2006 and 2016, respectively. These have served as a roadmap for the company's growth and development over the past 17 years as Tesla has grown from neophyte startup to the world's leading EV automaker. "There is a clear path to a sustainable energy Earth by 2050 and it does not require destroying natural habitats," Musk said during the keynote address.

Advanced data analytics methodologies such as artificial intelligence (AI) and machine learning (ML), are emerging techniques that are commonly used to improve energy management in smart cities. Various AI and ML solutions are used for optimizing the integration of renewable energy sources and emerging technologies such as vehicle-to-grid (V2G) and other energy storage solutions into the electricity systems of smart cities, leading to more sustainable and resilient cities with improved quality of life. This article discusses the key areas where these technologies are being used and their potential to improve energy management in smart cities.

The below is a summary of an article about Sustainable AI. As Artificial Intelligence (AI) technology advances and transforms industries, developing and deploying sustainable and environmentally responsible AI is becoming increasingly important. Sustainable AI holds great promise for reducing energy consumption and optimising resource use. However, it can also have unintended consequences that need careful consideration. The carbon footprint of AI is significant, and efforts to address its environmental impact are necessary.

We're celebrating Earth Day 2022 from 4/22 through 4/29 with posts that highlight how to build, maintain, and refine your workloads for sustainability. AWS estimates that inference (the process of using a trained machine learning [ML] algorithm to make a prediction) makes up 90 percent of the cost of an ML model. Given with AWS you pay for what you use, we estimate that inference also generally equates to most of the resource usage within an ML lifecycle. In Part 3, our final piece in the series, we show you how to reduce the environmental impact of your ML workload once your model is in production. If you missed the first parts of this series, in Part 1, we showed you how to examine your workload to help you 1) evaluate the impact of your workload, 2) identify alternatives to training your own model, and 3) optimize data processing.

In head-to-head racing, an accurate model of interactive behavior of the opposing target vehicle (TV) is required to perform tightly constrained, but highly rewarding maneuvers such as overtaking. However, such information is not typically made available in competitive scenarios, we therefore propose to construct a prediction and uncertainty model given data of the TV from previous races. In particular, a one-step Gaussian process (GP) model is trained on closed-loop interaction data to learn the behavior of a TV driven by an unknown policy. Predictions of the nominal trajectory and associated uncertainty are rolled out via a sampling-based approach and are used in a model predictive control (MPC) policy for the ego vehicle in order to intelligently trade-off between safety and performance when attempting overtaking maneuvers against a TV. We demonstrate the GP-based predictor in closed loop with the MPC policy in simulation races and compare its performance against several predictors from literature. In a Monte Carlo study, we observe that the GP-based predictor achieves similar win rates while maintaining safety in up to 3x more races. We finally demonstrate the prediction and control framework in real-time in a experimental study on a 1/10th scale racecar platform operating at speeds of around 2.8 m/s, and show a significant level of improvement when using the GP-based predictor over a baseline MPC predictor. Videos of the hardware experiments can be found at https://youtu.be/KMSs4ofDfIs.

Safety is a crucial property of every robotic platform: any control policy should always comply with actuator limits and avoid collisions with the environment and humans. In reinforcement learning, safety is even more fundamental for exploring an environment without causing any damage. While there are many proposed solutions to the safe exploration problem, only a few of them can deal with the complexity of the real world. This paper introduces a new formulation of safe exploration for reinforcement learning of various robotic tasks. Our approach applies to a wide class of robotic platforms and enforces safety even under complex collision constraints learned from data by exploring the tangent space of the constraint manifold. Our proposed approach achieves state-of-the-art performance in simulated high-dimensional and dynamic tasks while avoiding collisions with the environment. We show safe real-world deployment of our learned controller on a TIAGo++ robot, achieving remarkable performance in manipulation and human-robot interaction tasks.

Neural Motion Planners (NMPs) have emerged as a promising tool for solving robot navigation tasks in complex environments. However, these methods often require expert data for learning, which limits their application to scenarios where data generation is time-consuming. Recent developments have also led to physicsinformed deep neural models capable of representing complex dynamical Partial Differential Equations (PDEs). Inspired by these developments, we propose Neural Time Fields (NTFields) for robot motion planning in cluttered scenarios. Our framework represents a wave propagation model generating continuous arrival time to find path solutions informed by a nonlinear first-order PDE called the Eikonal equation. We evaluate our method in various cluttered 3D environments, including the Gibson dataset, and demonstrate its ability to solve motion planning problems for 4-DOF and 6-DOF robot manipulators where the traditional grid-based Eikonal planners often face the curse of dimensionality. Furthermore, the results show that our method exhibits high success rates and significantly lower computational times than the state-of-the-art methods, including NMPs that require training data from classical planners. Our code is released: https://github.com/ruiqini/ Motion Planning (MP) is one of the core components of an autonomous robot system that aims to interact physically with its surrounding environments. MP algorithms find path solutions from the robot's start state to the goal state while respecting all constraints, such as collision avoidance. The quest for fast, scalable MP methods has led from traditional approaches such as RRT* (LaValle et al., 2001), Informed-RRT* (Gammell et al., 2014), and FMT* (Janson et al., 2015) to NMPs that exhibit promising performance in high-dimensional spaces.

Modeling an unknown dynamical system is crucial in order to predict the future behavior of the system. A standard approach is training recurrent models on measurement data. While these models typically provide exact short-term predictions, accumulating errors yield deteriorated long-term behavior. In contrast, models with reliable long-term predictions can often be obtained, either by training a robust but less detailed model, or by leveraging physics-based simulations. In both cases, inaccuracies in the models yield a lack of short-time details. Thus, different models with contrastive properties on different time horizons are available. This observation immediately raises the question: Can we obtain predictions that combine the best of both worlds? Inspired by sensor fusion tasks, we interpret the problem in the frequency domain and leverage classical methods from signal processing, in particular complementary filters. This filtering technique combines two signals by applying a high-pass filter to one signal, and low-pass filtering the other. Essentially, the high-pass filter extracts high-frequencies, whereas the low-pass filter extracts low frequencies. Applying this concept to dynamics model learning enables the construction of models that yield accurate long- and short-term predictions. Here, we propose two methods, one being purely learning-based and the other one being a hybrid model that requires an additional physics-based simulator.

Autonomous vehicles (AVs) must share the driving space with other drivers and often employ conservative motion planning strategies to ensure safety. These conservative strategies can negatively impact AV's performance and significantly slow traffic throughput. Therefore, to avoid conservatism, we design an interaction-aware motion planner for the ego vehicle (AV) that interacts with surrounding vehicles to perform complex maneuvers in a locally optimal manner. Our planner uses a neural network-based interactive trajectory predictor and analytically integrates it with model predictive control (MPC). We solve the MPC optimization using the alternating direction method of multipliers (ADMM) and prove the algorithm's convergence. We provide an empirical study and compare our method with a baseline heuristic method.