A BSTRACT In this paper, we introduce a novel architecture for conditionally activated neural networks combining a hierarchical construction of multiple Mixture of Experts (MoEs) layers with a sampling mechanism that progressively converges to an optimized configuration of expert activation. This methodology enables the dynamic unfolding of the network's architecture, facilitating efficient path-specific training. Experimental results demonstrate that this approach achieves competitive accuracy compared to conventional baselines while significantly reducing the parameter count required for inference. The approach we propose implements a neural network where blocks (experts) are stacked over multiple layers. By expressing each block's output as the expected firing rate of a stochastic calculation path, we can simultaneously solve the inference and the selective activation problems. Importantly, since we model every block's output to be its expected activation rate, initiating a computational path from the input nodes or from within a block in the middle of the network will yield comparable results, allowing for a variety of new computational approaches, balancing the width-versus depth-first paradigm.

A common problem when using model predictive control (MPC) in practice is the satisfaction of safety specifications beyond the prediction horizon. While theoretical works have shown that safety can be guaranteed by enforcing a suitable terminal set constraint or a sufficiently long prediction horizon, these techniques are difficult to apply and thus are rarely used by practitioners, especially in the case of general nonlinear dynamics. To solve this problem, we impose a tradeoff between exact recursive feasibility, computational tractability, and applicability to ''black-box'' dynamics by learning an approximate discrete-time control barrier function and incorporating it into a variational inference MPC (VIMPC), a sampling-based MPC paradigm. To handle the resulting state constraints, we further propose a new sampling strategy that greatly reduces the variance of the estimated optimal control, improving the sample efficiency, and enabling real-time planning on a CPU. The resulting Neural Shield-VIMPC (NS-VIMPC) controller yields substantial safety improvements compared to existing sampling-based MPC controllers, even under badly designed cost functions. We validate our approach in both simulation and real-world hardware experiments.

Diffusion models excel at creating images and videos thanks to their multimodal generative capabilities. These same capabilities have made diffusion models increasingly popular in robotics research, where they are used for generating robot motion. However, the stochastic nature of diffusion models is fundamentally at odds with the precise dynamical equations describing the feasible motion of robots. Hence, generating dynamically admissible robot trajectories is a challenge for diffusion models. To alleviate this issue, we introduce DDAT: Diffusion policies for Dynamically Admissible Trajectories to generate provably admissible trajectories of black-box robotic systems using diffusion models. A sequence of states is a dynamically admissible trajectory if each state of the sequence belongs to the reachable set of its predecessor by the robot's equations of motion. To generate such trajectories, our diffusion policies project their predictions onto a dynamically admissible manifold during both training and inference to align the objective of the denoiser neural network with the dynamical admissibility constraint. The auto-regressive nature of these projections along with the black-box nature of robot dynamics render these projections immensely challenging. We thus enforce admissibility by iteratively sampling a polytopic under-approximation of the reachable set of a state onto which we project its predicted successor, before iterating this process with the projected successor. By producing accurate trajectories, this projection eliminates the need for diffusion models to continually replan, enabling one-shot long-horizon trajectory planning. We demonstrate that our framework generates higher quality dynamically admissible robot trajectories through extensive simulations on a quadcopter and various MuJoCo environments, along with real-world experiments on a Unitree GO1 and GO2.

Accurate and efficient modeling of Earth's ionosphere has a significant impact on research and operational communities due to its effects on radio communications, radar performance, [1, 2, 3] and satellite drag [4]. Success in forecasting key parameters such as the F2 layer critical frequency (foF2) and height (hmF2) and the total electron content (TEC) allows one to anticipate and mitigate the impacts of ionospheric variability on such systems. Over the past decades, many modeling approaches have been developed to predict these ionospheric parameters with increasing accuracy and skill. These models may be broadly categorized as empirical, physics-based, and, more recently, machine learning methods. Empirical models often rely on extensive historical datasets to establish statistical relationships between ionospheric parameters and geophysical variables. The International Reference Ionosphere (IRI) model [5] is a widely used standard that provides monthly averages of various ionospheric parameters based on many decades of past observations. IRI has seen continual development and improvements over the years, adding a host of submodels used to capture specific aspects of the ionosphere such as the CCIR [6, 7] and URSI [8] foF2 models for representing the diurnal variations of the peak plasma density across the globe, the AMTB [9] and SHU-2015 [10] models for even more harmonic expansions of hmF2, and NeQuick 2 [11] for improved topside electron density accuracy and thus better estimates of TEC [12, 13]. So, while large empirical models like IRI continue to improve, the number of these available options needed to address each domain and source of variance in the ionosphere also grows, and choosing the appropriate settings may be prohibitive without expert knowledge of each submodel.

In the event of a nuclear accident, or the detonation of a radiological dispersal device, quickly locating the source of the accident or blast is important for emergency response and environmental decontamination. At a specified time after a simulated instantaneous release of an aerosolized radioactive contaminant, measurements are recorded downwind from an array of radiation sensors. Neural networks are employed to infer the source release parameters in an accurate and rapid manner using sensor and mean wind speed data. We consider two neural network constructions that quantify the uncertainty of the predicted values; a categorical classification neural network and a Bayesian neural network. With the categorical classification neural network, we partition the spatial domain and treat each partition as a separate class for which we estimate the probability that it contains the true source location. In a Bayesian neural network, the weights and biases have a distribution rather than a single optimal value. With each evaluation, these distributions are sampled, yielding a different prediction with each evaluation. The trained Bayesian neural network is thus evaluated to construct posterior densities for the release parameters. Results are compared to Markov chain Monte Carlo (MCMC) results found using the Delayed Rejection Adaptive Metropolis Algorithm. The Bayesian neural network approach is generally much cheaper computationally than the MCMC approach as it relies on the computational cost of the neural network evaluation to generate posterior densities as opposed to the MCMC approach which depends on the computational expense of the transport and radiation detection models.

Solar flares are defined as outbursts on the surface of the Sun. They occur when energy accumulated in magnetic fields enclosing solar active regions (ARs) is abruptly expelled. Solar flares and associated coronal mass ejections are sources of space weather that adversely impact devices at or near Earth, including the obstruction of high-frequency radio waves utilized for communication and the deterioration of power grid operations. Tracking and delivering early and precise predictions of solar flares is essential for readiness and catastrophe risk mitigation. This paper employs the random forest (RF) model to address the binary classification task, analyzing the links between solar flares and their originating ARs with observational data gathered from 2011 to 2021 by SolarMonitor.org and the XRT flare database. We seek to identify the physical features of a source AR that significantly influence its potential to trigger >=C-class flares. We found that the features of AR_Type_Today, Hale_Class_Yesterday are the most and the least prepotent features, respectively. NoS_Difference has a remarkable effect in decision-making in both global and local interpretations.

Transformer-based and CNN-based methods demonstrate strong performance in long-term time series forecasting. However, their high computational and storage requirements can hinder large-scale deployment. To address this limitation, we propose integrating lightweight MLP with advanced architectures using knowledge distillation (KD). Our preliminary study reveals different models can capture complementary patterns, particularly multi-scale and multi-period patterns in the temporal and frequency domains. Based on this observation, we introduce TimeDistill, a cross-architecture KD framework that transfers these patterns from teacher models (e.g., Transformers, CNNs) to MLP. Additionally, we provide a theoretical analysis, demonstrating that our KD approach can be interpreted as a specialized form of mixup data augmentation. TimeDistill improves MLP performance by up to 18.6%, surpassing teacher models on eight datasets. It also achieves up to 7X faster inference and requires 130X fewer parameters. Furthermore, we conduct extensive evaluations to highlight the versatility and effectiveness of TimeDistill.

High-detail semantic 3D building models are frequently utilized in robotics, geoinformatics, and computer vision. One key aspect of creating such models is employing 2D conflict maps that detect openings' locations in building facades. Yet, in reality, these maps are often incomplete due to obstacles encountered during laser scanning. To address this challenge, we introduce FacaDiffy, a novel method for inpainting unseen facade parts by completing conflict maps with a personalized Stable Diffusion model. Specifically, we first propose a deterministic ray analysis approach to derive 2D conflict maps from existing 3D building models and corresponding laser scanning point clouds. Furthermore, we facilitate the inpainting of unseen facade objects into these 2D conflict maps by leveraging the potential of personalizing a Stable Diffusion model. To complement the scarcity of real-world training data, we also develop a scalable pipeline to produce synthetic conflict maps using random city model generators and annotated facade images. Extensive experiments demonstrate that FacaDiffy achieves state-of-the-art performance in conflict map completion compared to various inpainting baselines and increases the detection rate by $22\%$ when applying the completed conflict maps for high-definition 3D semantic building reconstruction. The code is be publicly available in the corresponding GitHub repository: https://github.com/ThomasFroech/InpaintingofUnseenFacadeObjects

Existing Large Vision-Language Models (LVLMs) can process inputs with context lengths up to 128k visual and text tokens, yet they struggle to generate coherent outputs beyond 1,000 words. We find that the primary limitation is the absence of long output examples during supervised fine-tuning (SFT). To tackle this issue, we introduce LongWriter-V-22k, a SFT dataset comprising 22,158 examples, each with multiple input images, an instruction, and corresponding outputs ranging from 0 to 10,000 words. Moreover, to achieve long outputs that maintain high-fidelity to the input images, we employ Direct Preference Optimization (DPO) to the SFT model. Given the high cost of collecting human feedback for lengthy outputs (e.g., 3,000 words), we propose IterDPO, which breaks long outputs into segments and uses iterative corrections to form preference pairs with the original outputs. Additionally, we develop MMLongBench-Write, a benchmark featuring six tasks to evaluate the long-generation capabilities of VLMs. Our 7B parameter model, trained with LongWriter-V-22k and IterDPO, achieves impressive performance on this benchmark, outperforming larger proprietary models like GPT-4o. Code and data: https://github.com/THU-KEG/LongWriter-V

NASA's Cooperative Autonomous Distributed Robotic Exploration (CADRE) mission, slated for flight to the Moon's Reiner Gamma region in 2025/2026, is designed to demonstrate multi-agent autonomous exploration of the Lunar surface and sub-surface. A team of three robots and a base station will autonomously explore a region near the lander, collecting the data required for 3D reconstruction of the surface with no human input; and then autonomously perform distributed sensing with multi-static ground penetrating radars (GPR), driving in formation while performing coordinated radar soundings to create a map of the subsurface. At the core of CADRE's software architecture is a novel autonomous, distributed planning, scheduling, and execution (PS&E) system. The system coordinates the robots' activities, planning and executing tasks that require multiple robots' participation while ensuring that each individual robot's thermal and power resources stay within prescribed bounds, and respecting ground-prescribed sleep-wake cycles. The system uses a centralized-planning, distributed-execution paradigm, and a leader election mechanism ensures robustness to failures of individual agents. In this paper, we describe the architecture of CADRE's PS&E system; discuss its design rationale; and report on verification and validation (V&V) testing of the system on CADRE's hardware in preparation for deployment on the Moon.