Manipulating deformable linear objects (DLOs) to achieve desired shapes in constrained environments with obstacles is a meaningful but challenging task. Global planning is necessary for such a highly-constrained task; however, accurate models of DLOs required by planners are difficult to obtain owing to their deformable nature, and the inevitable modeling errors significantly affect the planning results, probably resulting in task failure if the robot simply executes the planned path in an open-loop manner. In this paper, we propose a coarse-to-fine framework to combine global planning and local control for dual-arm manipulation of DLOs, capable of precisely achieving desired configurations and avoiding potential collisions between the DLO, robot, and obstacles. Specifically, the global planner refers to a simple yet effective DLO energy model and computes a coarse path to find a feasible solution efficiently; then the local controller follows that path as guidance and further shapes it with closed-loop feedback to compensate for the planning errors and improve the task accuracy. Both simulations and real-world experiments demonstrate that our framework can robustly achieve desired DLO configurations in constrained environments with imprecise DLO models, which may not be reliably achieved by only planning or control.

We focus on day-ahead electricity load forecasting of substations of the distribution network in France; therefore, our problem lies between the instability of a single consumption and the stability of a countrywide total demand. Moreover, we are interested in forecasting the loads of over one thousand substations; consequently, we are in the context of forecasting multiple time series. To that end, we rely on an adaptive methodology that provided excellent results at a national scale; the idea is to combine generalized additive models with state-space representations. However, the extension of this methodology to the prediction of over a thousand time series raises a computational issue. We solve it by developing a frugal variant, reducing the number of parameters estimated; we estimate the forecasting models only for a few time series and achieve transfer learning by relying on aggregation of experts. It yields a reduction of computational needs and their associated emissions. We build several variants, corresponding to different levels of parameter transfer, and we look for the best trade-off between accuracy and frugality. The selected method achieves competitive results compared to state-of-the-art individual models. Finally, we highlight the interpretability of the models, which is important for operational applications.

The ability for groundwater heat pumps to meet space heating and cooling demands without relying on fossil fuels, has prompted their mass roll-out in dense urban environments. In regions with high subsurface groundwater flow rates, the thermal plume generated from a heat pump's injection well can propagate downstream, affecting surrounding users and reducing their heat pump efficiency. To reduce the probability of interference, regulators often rely on simple analytical models or high-fidelity groundwater simulations to determine the impact that a heat pump has on the subsurface aquifer and surrounding heat pumps. These are either too inaccurate or too computationally expensive for everyday use. In this work, a surrogate model was developed to provide a quick, high accuracy prediction tool of the thermal plume generated by a heat pump within heterogeneous subsurface aquifers. Three variations of a convolutional neural network were developed that accepts the known groundwater Darcy velocities as discrete 2D inputs and predicts the temperature within the subsurface aquifer around the heat pump. A data set consisting of 800 numerical simulation samples, generated from random permeability fields and pressure boundary conditions, was used to provide pseudo-randomized Darcy velocity fields as input fields and the temperature field solution for training the network. The subsurface temperature field output from the network provides a more realistic temperature field that follows the Darcy velocity streamlines, while being orders of magnitude faster than conventional high-fidelity solvers.

As an optimization tool, the OPF is typically used to solve the Economic dispatch (ED) problem by finding the optimal output of the controllable generators with the lowest possible cost that meets the load and physical constraints of the grid. However, the OPF is a complex non-linear problem with many constraints that can be hard to solve. In addition, the rapid integration of renewable energy resources (RES) with intermittent outputs propagates uncertainty through the grid and thus leads to a higher degree of complexity in power grid operations. To take into account the impacts of uncertainty within the OPF, the researchers have recently proposed several stochastic approaches such as robust optimization [1], probabilistic OPF [2], and Chance-Constrained (CC) OPF [3, 4]. Robust optimization often leads to conservative solutions, while probabilistic OPF is difficult to implement in practice. The CC-OPF implies satisfying probability constraints with a given acceptable violation probability, balancing operating costs and security in the power grid in that way.

Generating wind power scenarios is very important for studying the impacts of multiple wind farms that are interconnected to the grid. We develop a graph convolutional generative adversarial network (GCGAN) approach by leveraging GAN's capability in generating large number of realistic scenarios without using statistical modeling. Unlike existing GAN-based wind power data generation approaches, we design GAN's hidden layers to match the underlying spatial and temporal characteristics. We advocate the use of graph filters to embed the spatial correlation among multiple wind farms, and a one-dimensional (1D) convolutional layer to represent the temporal feature filters. The proposed graph and feature filter design significantly reduce the GAN model complexity, leading to improvements in training efficiency and computation complexity. Numerical results using real wind power data from Australia demonstrate that the scenarios generated by the proposed GCGAN exhibit more realistic spatial and temporal statistics than other GAN-based outputs.

Unless you have been living under a stone, you will have heard about the new software ChatGPT, which can write your emails and project reports, and your children's essays (still not allowed, by the way!). Maybe you're excited by the possibilities it offers and its aura of'the future is here'. Could a robot that cleans your house and acts as your PA, or even your friend, be next? Before you get too carried away, here are some of the reasons why ChatGPT may not be the'Next Big Thing', and why we should handle it with care – if at all. Let's first look at what ChatGPT actually is.

Microsoft has begun rolling out a new update for Xbox consoles. Among the more notable features the February release adds is the " carbon aware" functionality the company began testing last month. When your Xbox has access to the internet, you can set it to schedule game, app and operating system updates based on local carbon intensity data. According to Microsoft, doing so may lead to your console producing fewer carbon emissions because it's programmed to download files when more renewable energy is likely available. It may also save you money on your electricity bill.

The method of choice for integrating the time-dependent Fokker-Planck equation in high-dimension is to generate samples from the solution via integration of the associated stochastic differential equation. Here, we study an alternative scheme based on integrating an ordinary differential equation that describes the flow of probability. Acting as a transport map, this equation deterministically pushes samples from the initial density onto samples from the solution at any later time. Unlike integration of the stochastic dynamics, the method has the advantage of giving direct access to quantities that are challenging to estimate from trajectories alone, such as the probability current, the density itself, and its entropy. The probability flow equation depends on the gradient of the logarithm of the solution (its "score"), and so is a-priori unknown. To resolve this dependence, we model the score with a deep neural network that is learned on-the-fly by propagating a set of samples according to the instantaneous probability current. We show theoretically that the proposed approach controls the KL divergence from the learned solution to the target, while learning on external samples from the stochastic differential equation does not control either direction of the KL divergence. Empirically, we consider several high-dimensional Fokker-Planck equations from the physics of interacting particle systems. We find that the method accurately matches analytical solutions when they are available as well as moments computed via Monte-Carlo when they are not. Moreover, the method offers compelling predictions for the global entropy production rate that out-perform those obtained from learning on stochastic trajectories, and can effectively capture non-equilibrium steady-state probability currents over long time intervals.

State estimation is an important aspect in many robotics applications. In this work, we consider the task of obtaining accurate state estimates for robotic systems by enhancing the dynamics model used in state estimation algorithms. Existing frameworks such as moving horizon estimation (MHE) and the unscented Kalman filter (UKF) provide the flexibility to incorporate nonlinear dynamics and measurement models. However, this implies that the dynamics model within these algorithms has to be sufficiently accurate in order to warrant the accuracy of the state estimates. To enhance the dynamics models and improve the estimation accuracy, we utilize a deep learning framework known as knowledge-based neural ordinary differential equations (KNODEs). The KNODE framework embeds prior knowledge into the training procedure and synthesizes an accurate hybrid model by fusing a prior first-principles model with a neural ordinary differential equation (NODE) model. In our proposed LEARNEST framework, we integrate the data-driven model into two novel model-based state estimation algorithms, which are denoted as KNODE-MHE and KNODE-UKF. These two algorithms are compared against their conventional counterparts across a number of robotic applications; state estimation for a cartpole system using partial measurements, localization for a ground robot, as well as state estimation for a quadrotor. Through simulations and tests using real-world experimental data, we demonstrate the versatility and efficacy of the proposed learning-enhanced state estimation framework.

Disentangling the encodings of neural models is a fundamental aspect for improving interpretability, semantic control and downstream task performance in Natural Language Processing. Currently, most disentanglement methods are unsupervised or rely on synthetic datasets with known generative factors. We argue that recurrent syntactic and semantic regularities in textual data can be used to provide the models with both structural biases and generative factors. We leverage the semantic structures present in a representative and semantically dense category of sentence types, definitional sentences, for training a Variational Autoencoder to learn disentangled representations. Our experimental results show that the proposed model outperforms unsupervised baselines on several qualitative and quantitative benchmarks for disentanglement, and it also improves the results in the downstream task of definition modeling.