Deep learning-based grasp prediction models have become an industry standard for robotic bin-picking systems. To maximize pick success, production environments are often equipped with several end-effector tools that can be swapped on-the-fly, based on the target object. Tool-change, however, takes time. Choosing the order of grasps to perform, and corresponding tool-change actions, can improve system throughput; this is the topic of our work. The main challenge in planning tool change is uncertainty - we typically cannot see objects in the bin that are currently occluded. Inspired by queuing and admission control problems, we model the problem as a Markov Decision Process (MDP), where the goal is to maximize expected throughput, and we pursue an approximate solution based on model predictive control, where at each time step we plan based only on the currently visible objects. Special to our method is the idea of void zones, which are geometrical boundaries in which an unknown object will be present, and therefore cannot be accounted for during planning. Our planning problem can be solved using integer linear programming (ILP). However, we find that an approximate solution based on sparse tree search yields near optimal performance at a fraction of the time. Another question that we explore is how to measure the performance of tool-change planning: we find that throughput alone can fail to capture delicate and smooth behavior, and propose a principled alternative. Finally, we demonstrate our algorithms on both synthetic and real world bin picking tasks.

To promote the widespread use of mobile robots in diverse fields, the performance of trajectory tracking must be ensured. To address the constraints and nonlinear features associated with mobile robot systems, we apply nonlinear model predictive control (MPC) to realize the trajectory tracking of mobile robots. Specifically, to alleviate the online computational complexity of nonlinear MPC, this paper devises a lattice piecewise affine (PWA) approximation method that can approximate both the nonlinear system and control law of explicit nonlinear MPC. The kinematic model of the mobile robot is successively linearized along the trajectory to obtain a linear time-varying description of the system, which is then expressed using a lattice PWA model. Subsequently, the nonlinear MPC problem can be transformed into a series of linear MPC problems. Furthermore, to reduce the complexity of online calculation of multiple linear MPC problems, we approximate the optimal solution of the linear MPC by using the lattice PWA model. That is, for different sampling states, the optimal control inputs are obtained, and lattice PWA approximations are constructed for the state control pairs. Simulations are performed to evaluate the performance of our method in comparison with the linear MPC and explicit linear MPC frameworks. The results show that compared with the explicit linear MPC, our method has a higher online computing speed and can decrease the offline computing time without significantly increasing the tracking error.

The ongoing transition to renewable energy is increasing the share of fluctuating power sources like wind and solar, raising power grid volatility and making grid operation increasingly complex and costly. In our prior work, we have introduced a congestion management approach consisting of a redispatching optimizer combined with a machine learning-based topology optimization agent. Compared to a typical redispatching-only agent, it was able to keep a simulated grid in operation longer while at the same time reducing operational cost. Our approach also ranked 1st in the L2RPN 2022 competition initiated by RTE, Europe's largest grid operator. The aim of this paper is to bring this promising technology closer to the real world of power grid operation. We deploy RL-based agents in two settings resembling established workflows, AI-assisted day-ahead planning and realtime control, in an attempt to show the benefits and caveats of this new technology. We then analyse congestion, redispatching and switching profiles, and elementary sensitivity analysis providing a glimpse of operation robustness. While there is still a long way to a real control room, we believe that this paper and the associated prototypes help to narrow the gap and pave the way for a safe deployment of RL agents in tomorrow's power grids.

Observational studies of causal effects require adjustment for confounding factors. In the tabular setting, where these factors are well-defined, separate random variables, the effect of confounding is well understood. However, in public policy, ecology, and in medicine, decisions are often made in non-tabular settings, informed by patterns or objects detected in images (e.g., maps, satellite or tomography imagery). Using such imagery for causal inference presents an opportunity because objects in the image may be related to the treatment and outcome of interest. In these cases, we rely on the images to adjust for confounding but observed data do not directly label the existence of the important objects. Motivated by real-world applications, we formalize this challenge, how it can be handled, and what conditions are sufficient to identify and estimate causal effects. We analyze finite-sample performance using simulation experiments, estimating effects using a propensity adjustment algorithm that employs a machine learning model to estimate the image confounding. Our experiments also examine sensitivity to misspecification of the image pattern mechanism. Finally, we use our methodology to estimate the effects of policy interventions on poverty in African communities from satellite imagery.

Spectral 3D computer vision examines both the geometric and spectral properties of objects. It provides a deeper understanding of an object's physical properties by providing information from narrow bands in various regions of the electromagnetic spectrum. Mapping the spectral information onto the 3D model reveals changes in the spectra-structure space or enhances 3D representations with properties such as reflectance, chromatic aberration, and varying defocus blur. This emerging paradigm advances traditional computer vision and opens new avenues of research in 3D structure, depth estimation, motion analysis, and more. It has found applications in areas such as smart agriculture, environment monitoring, building inspection, geological exploration, and digital cultural heritage records. This survey offers a comprehensive overview of spectral 3D computer vision, including a unified taxonomy of methods, key application areas, and future challenges and prospects.

Effective data-driven PDE forecasting methods often rely on fixed spatial and / or temporal discretizations. This raises limitations in real-world applications like weather prediction where flexible extrapolation at arbitrary spatiotemporal locations is required. We address this problem by introducing a new data-driven approach, DINo, that models a PDE's flow with continuous-time dynamics of spatially continuous functions. This is achieved by embedding spatial observations independently of their discretization via Implicit Neural Representations in a small latent space temporally driven by a learned ODE. This separate and flexible treatment of time and space makes DINo the first data-driven model to combine the following advantages. It extrapolates at arbitrary spatial and temporal locations; it can learn from sparse irregular grids or manifolds; at test time, it generalizes to new grids or resolutions. DINo outperforms alternative neural PDE forecasters in a variety of challenging generalization scenarios on representative PDE systems.

Natural Language Processing tasks such as resolving the coreference of events require understanding the relations between two text snippets. These tasks are typically formulated as (binary) classification problems over independently induced representations of the text snippets. In this work, we develop a Pairwise Representation Learning (PairwiseRL) scheme for the event mention pairs, in which we jointly encode a pair of text snippets so that the representation of each mention in the pair is induced in the context of the other one. Furthermore, our representation supports a finer, structured representation of the text snippet to facilitate encoding events and their arguments. We show that PairwiseRL, despite its simplicity, outperforms the prior state-of-the-art event coreference systems on both cross-document and within-document event coreference benchmarks. We also conduct in-depth analysis in terms of the improvement and the limitation of pairwise representation so as to provide insights for future work.

The Majorana Demonstrator is a leading experiment searching for neutrinoless double-beta decay with high purity germanium detectors (HPGe). Machine learning provides a new way to maximize the amount of information provided by these detectors, but the data-driven nature makes it less interpretable compared to traditional analysis. An interpretability study reveals the machine's decision-making logic, allowing us to learn from the machine to feedback to the traditional analysis. In this work, we have presented the first machine learning analysis of the data from the Majorana Demonstrator; this is also the first interpretable machine learning analysis of any germanium detector experiment. Two gradient boosted decision tree models are trained to learn from the data, and a game-theory-based model interpretability study is conducted to understand the origin of the classification power. By learning from data, this analysis recognizes the correlations among reconstruction parameters to further enhance the background rejection performance. By learning from the machine, this analysis reveals the importance of new background categories to reciprocally benefit the standard Majorana analysis. This model is highly compatible with next-generation germanium detector experiments like LEGEND since it can be simultaneously trained on a large number of detectors.

The first question pops into our mind is "what is digital twin technology?" A virtual replica of a tangible object is called a "digital twin." It could be anything basic like a piece of furniture or something as complex as an automobile or a manufacturing production line. All the components of the object are simulated by the digital twin to provide a virtual proxy. What advantages do digital twin offer?

Mitacs recently asked two leading experts to talk about the intersection of artificial intelligence and clean technology. Ivette Vera-Perez is the Team Lead for Mitacs's Account Management group with expertise in clean technology. Ivette serves on the board of directors of the Ontario Clean Technologies Industry Association (OCTIA).Tibor Turi is the executive director of SOSCIP, a consortium of academic and industry members that supports collaborative research projects through partnership-building services and access to leading-edge advanced computing platforms. Tibor: The current state of AI serving cleantech is both exploratory and operational. It is exploratory because cleantech and AI are both interested in solving critical real-world problems that push researchers and entrepreneurs right to the very edge of innovation.