Contact-rich manipulation is challenging due to dynamically-changing physical constraints by the contact mode changes undergone during manipulation. This paper proposes a versatile local planning and control framework for contact-rich manipulation that determines the continuous control action under variable contact modes online. We model the physical characteristics of contact-rich manipulation by quasistatic dynamics and complementarity constraints. We then propose a linear complementarity quadratic program (LCQP) to efficiently determine the control action that implicitly includes the decisions on the contact modes under these constraints. In the LCQP, we relax the complementarity constraints to alleviate ill-conditioned problems that are typically caused by measure noises or model miss-matches. We conduct dynamical simulations on a 3D physical simulator and demonstrate that the proposed method can achieve various contact-rich manipulation tasks by determining the control action including the contact modes in real-time.

Coupling-based normalizing flows (e.g. RealNVP) are a popular family of normalizing flow architectures that work surprisingly well in practice. This calls for theoretical understanding. Existing work shows that such flows weakly converge to arbitrary data distributions. However, they make no statement about the stricter convergence criterion used in practice, the maximum likelihood loss. For the first time, we make a quantitative statement about this kind of convergence: We prove that all coupling-based normalizing flows perform whitening of the data distribution (i.e. diagonalize the covariance matrix) and derive corresponding convergence bounds that show a linear convergence rate in the depth of the flow. Numerical experiments demonstrate the implications of our theory and point at open questions.

This paper introduces pmuGE (phasor measurement unit Generator of Events), one of the first data-driven generative model for power system event data. We have trained this model on thousands of actual events and created a dataset denoted pmuBAGE (the Benchmarking Assortment of Generated PMU Events). The dataset consists of almost 1000 instances of labeled event data to encourage benchmark evaluations on phasor measurement unit (PMU) data analytics. PMU data are challenging to obtain, especially those covering event periods. Nevertheless, power system problems have recently seen phenomenal advancements via data-driven machine learning solutions. A highly accessible standard benchmarking dataset would enable a drastic acceleration of the development of successful machine learning techniques in this field. We propose a novel learning method based on the Event Participation Decomposition of Power System Events, which makes it possible to learn a generative model of PMU data during system anomalies. The model can create highly realistic event data without compromising the differential privacy of the PMUs used to train it. The dataset is available online for any researcher or practitioner to use at the pmuBAGE Github Repository: https://github.com/NanpengYu/pmuBAGE.

Methods for combining Machine Learning (ML) and Constrained Optimization (CO) for decision support have attracted considerable interest in recent years. This is motivated by the possibility to tackle complex decision making problems subject to uncertainty (sometimes over multiple stages), and having a partially specified structure where knowledge is available both in explicit form (cost function, constraints) and implicit form (historical data or simulators). As a practical example, an Energy Management Systems (EMS) needs to allocate minimum-cost power flows from different Distributed Energy Resources (DERs) [1]. Based on actual energy prices, and forecasts on the availability of DERs and on consumption, the EMS decides which power generators should be used and whether the surplus should be stored or sold to the market. Such a problem involves hard constraints (maintaining power balance, power flow limits), a clear cost structure, elements of uncertainty that are partially known via historical data, and multiple decision stages likely subject to execution time restrictions. In this type of use case, pure CO methods struggle with robustness and scalability, while pure ML methods such as Reinforcement Learning (RL) have trouble dealing with hard constraints and combinatorial decision spaces. Motivated by the opportunity to obtain improvements via a combination of ML and CO, multiple lines of research have emerged, such as Decision Focused Learning, Constrained Reinforcement Learning, or Algorithm Configuration. While existing methods have obtained a good measure of success, to the best of the authors knowledge no existing method can deal with all the challenges we have identified. Ideally, one wishes to obtain a solution policy capable of providing feasible (and high-quality) solutions, handling robustness, taking advantage of existing data, and with a reasonable computational load.

In order to achieve the climate targets, electrification of individual mobility is essential. However, grid integration of electrical vehicles poses challenges for the electrical distribution network due to high charging power and simultaneity. To investigate these challenges in research studies, the network-referenced supply task needs to be modeled. Previous research work utilizes data that is not always complete or sufficiently granular in space. This is why this paper presents a methodology which allows a holistic determination of residential supply tasks based on orthophotos. To do this, buildings are first identified from orthophotos, then residential building types are classified, and finally the electricity demand of each building is determined. In an exemplary case study, we validate the presented methodology and compare the results with another supply task methodology. The results show that the electricity demand deviates from the results of a reference method by an average 9%. Deviations result mainly from the parameterization of the selected residential building types. Thus, the presented methodology is able to model supply tasks similarly as other methods but more granular.

In this work, we tackle two widespread challenges in real applications for time-series forecasting that have been largely understudied: distribution shifts and missing data. We propose SpectraNet, a novel multivariate time-series forecasting model that dynamically infers a latent space spectral decomposition to capture current temporal dynamics and correlations on the recent observed history. A Convolution Neural Network maps the learned representation by sequentially mixing its components and refining the output. Our proposed approach can simultaneously produce forecasts and interpolate past observations and can, therefore, greatly simplify production systems by unifying imputation and forecasting tasks into a single model. SpectraNet achieves SoTA performance simultaneously on both tasks on five benchmark datasets, compared to forecasting and imputation models, with up to 92% fewer parameters and comparable training times. On settings with up to 80% missing data, SpectraNet has average performance improvements of almost 50% over the second-best alternative. Our code is available at https://github.com/cchallu/spectranet.

In automated planning, recognising the goal of an agent from a trace of observations is an important task with many applications. The state-of-the-art approaches to goal recognition rely on the application of planning techniques, which requires a model of the domain actions and of the initial domain state (written, e.g., in PDDL). We study an alternative approach where goal recognition is formulated as a classification task addressed by machine learning. Our approach, called GRNet, is primarily aimed at making goal recognition more accurate as well as faster by learning how to solve it in a given domain. Given a planning domain specified by a set of propositions and a set of action names, the goal classification instances in the domain are solved by a Recurrent Neural Network (RNN). A run of the RNN processes a trace of observed actions to compute how likely it is that each domain proposition is part of the agent's goal, for the problem instance under considerations. These predictions are then aggregated to choose one of the candidate goals. The only information required as input of the trained RNN is a trace of action labels, each one indicating just the name of an observed action. An experimental analysis confirms that \our achieves good performance in terms of both goal classification accuracy and runtime, obtaining better performance w.r.t. a state-of-the-art goal recognition system over the considered benchmarks.

Finding professors in machine learning and climate change is difficult, because they are spread across various departments and research a wide breadth of optics. Whether you're applying for graduate school, look for collaborators, or inspiring projects - this list is intended to get you started by finding the right people. This is a safe, open, and inclusive community. The list is most surely incomplete, so please add your favorite professors through commenting in an issue or creating a pull request. Students in CCML include Vincent Meijer.

Tehran, Iran – Iran and the West are clashing over Tehran's alleged drone sales to Russia for the war in Ukraine, an issue now being linked to a UN resolution backing the country's nuclear deal with world powers. UN Security Council Resolution 2231 was unanimously adopted in 2015 to endorse the Joint Comprehensive Plan of Action (JCPOA) – the accord that Iran signed with China, Russia, United States, United Kingdom, France and Germany to get sanctions relief in exchange for curbs on its nuclear programme. The US unilaterally abandoned the accord in 2018 and imposed harsh sanctions that remain in place today. Efforts since April 2021 to restore the deal have stalled. European powers are now trying to use a periodic reporting mechanism in the resolution.

Abstract: Having the Fifth Generation (5G) mobile communication system recently rolled out in many countries, the wireless community is now setting its eyes on the next era of Sixth Generation (6G). Inheriting from 5G its focus on industrial use cases, 6G is envisaged to become the infrastructural backbone of future intelligent industry. Especially, a combination of 6G and the emerging technologies of Digital Twins (DT) will give impetus to the next evolution of Industry 4.0 (I4.0) systems. Here we provide a vision for the future 6G industrial DT ecosystem, which shall bridge the gaps between humans, machines, and the data infrastructure, and therewith enable numerous novel application scenarios. Subsequently, we explore the technical challenges that are brought by such ambitions, and identify the key enabling technologies that may help tackle down these issues.