Despite their promise to perform complex reasoning, large language models (LLMs) have been shown to have limited effectiveness in end-to-end planning. This has inspired an intriguing question: if these models cannot plan well, can they still contribute to the planning framework as a helpful plan evaluator? In this work, we generalize this question to consider LLMs augmented with visual understanding, i.e., Vision-Language Models (VLMs). We introduce PathEval, a novel benchmark evaluating VLMs as plan evaluators in complex path-planning scenarios. Succeeding in the benchmark requires a VLM to be able to abstract traits of optimal paths from the scenario description, demonstrate precise low-level perception on each path, and integrate this information to decide the better path. Our analysis of state-of-the-art VLMs reveals that these models face significant challenges on the benchmark. We observe that the VLMs can precisely abstract given scenarios to identify the desired traits and exhibit mixed performance in integrating the provided information. Yet, their vision component presents a critical bottleneck, with models struggling to perceive low-level details about a path. Our experimental results show that this issue cannot be trivially addressed via end-to-end fine-tuning; rather, task-specific discriminative adaptation of these vision encoders is needed for these VLMs to become effective path evaluators.

Deep Neural Networks (DNNs) have revolutionized various fields, but their deployment on GPUs often leads to significant energy consumption. Unlike existing methods for reducing GPU energy consumption, which are either hardware-inflexible or limited by workload constraints, this paper addresses the problem at the GPU kernel level. We propose a novel search-based compilation method to generate energy-efficient GPU kernels by incorporating energy efficiency into the search process. To accelerate the energy evaluation process, we develop an accurate energy cost model based on high-level kernel features. Furthermore, we introduce a dynamic updating strategy for the energy cost model, reducing the need for on-device energy measurements and accelerating the search process. Our evaluation demonstrates that the proposed approach can generate GPU kernels with up to 21.69% reduced energy consumption while maintaining low latency.

In this work, we introduce MOLA: a Multi-block Orthogonal Long short-term memory Autoencoder paradigm, to conduct accurate, reliable fault detection of industrial processes. To achieve this, MOLA effectively extracts dynamic orthogonal features by introducing an orthogonality-based loss function to constrain the latent space output. This helps eliminate the redundancy in the features identified, thereby improving the overall monitoring performance. On top of this, a multi-block monitoring structure is proposed, which categorizes the process variables into multiple blocks by leveraging expert process knowledge about their associations with the overall process. Each block is associated with its specific Orthogonal Long short-term memory Autoencoder model, whose extracted dynamic orthogonal features are monitored by distance-based Hotelling's $T^2$ statistics and quantile-based cumulative sum (CUSUM) designed for multivariate data streams that are nonparametric, heterogeneous in nature. Compared to having a single model accounting for all process variables, such a multi-block structure improves the overall process monitoring performance significantly, especially for large-scale industrial processes. Finally, we propose an adaptive weight-based Bayesian fusion (W-BF) framework to aggregate all block-wise monitoring statistics into a global statistic that we monitor for faults, with the goal of improving fault detection speed by assigning weights to blocks based on the sequential order where alarms are raised. We demonstrate the efficiency and effectiveness of our MOLA framework by applying it to the Tennessee Eastman Process and comparing the performance with various benchmark methods.

Accurately mapping large-scale cropland is crucial for agricultural production management and planning. Currently, the combination of remote sensing data and deep learning techniques has shown outstanding performance in cropland mapping. However, those approaches require massive precise labels, which are labor-intensive. To reduce the label cost, this study presented a weakly supervised framework considering multi-temporal information for large-scale cropland mapping. Specifically, we extract high-quality labels according to their consistency among global land cover (GLC) products to construct the supervised learning signal. On the one hand, to alleviate the overfitting problem caused by the model's over-trust of remaining errors in high-quality labels, we encode the similarity/aggregation of cropland in the visual/spatial domain to construct the unsupervised learning signal, and take it as the regularization term to constrain the supervised part. On the other hand, to sufficiently leverage the plentiful information in the samples without high-quality labels, we also incorporate the unsupervised learning signal in these samples, enriching the diversity of the feature space. After that, to capture the phenological features of croplands, we introduce dense satellite image time series (SITS) to extend the proposed framework in the temporal dimension. We also visualized the high dimensional phenological features to uncover how multi-temporal information benefits cropland extraction, and assessed the method's robustness under conditions of data scarcity. The proposed framework has been experimentally validated for strong adaptability across three study areas (Hunan Province, Southeast France, and Kansas) in large-scale cropland mapping, and the internal mechanism and temporal generalizability are also investigated.

Developing kinesthetic haptic devices with advanced haptic rendering capabilities is challenging due to the limitations on driving mechanisms. In this study, we introduce a novel soft electrohydraulic actuator and develop a kinesthetic haptic device utilizing it as the driving unit. We established a mathematical model and conducted testing experiments to demonstrate the device's ability to stably output controllable feedback force. Our experiments also demonstrates that this device exhibits fast response characteristics. By utilizing the easily controllable nature of the soft electrohydraulic actuator, we were able to achieve high-resolution controllable feedback force output. Furthermore, by modulating the waveform of the driving high voltage, the device acquired the capability to render variable frequency haptic vibration without adding any extra vibration actuator. Using this kinesthetic haptic device, we built a teleoperated robotic system, showcasing the device's potential application as a haptic force feedback system in the field of robotics.

Thirteen years after the Fukushima Daiichi nuclear power plant accident, Japan's nuclear energy accounts for only approximately 6% of electricity production, as most nuclear plants remain shut down. To revitalize the nuclear industry and achieve sustainable development goals, effective communication with Japanese citizens, grounded in an accurate understanding of public sentiment, is of paramount importance. While nationwide surveys have traditionally been used to gauge public views, the rise of social media in recent years has provided a promising new avenue for understanding public sentiment. To explore domestic sentiment on nuclear energy-related issues expressed online, we analyzed the content and comments of over 3,000 YouTube videos covering topics related to nuclear energy. Topic modeling was used to extract the main topics from the videos, and sentiment analysis with large language models classified user sentiments towards each topic. Additionally, word co-occurrence network analysis was performed to examine the shift in online discussions during August and September 2023 regarding the release of treated water. Overall, our results provide valuable insights into the online discourse on nuclear energy and contribute to a more comprehensive understanding of public sentiment in Japan.

This paper is dedicated to the development of a novel adaptive torsion spring mechanism for optimizing energy consumption in legged robots. By adjusting the equilibrium position and stiffness of the spring, the system improves energy efficiency during cyclic movements, such as walking and jumping. The adaptive compliance mechanism, consisting of a torsion spring combined with a worm gear driven by a servo actuator, compensates for motion-induced torque and reduces motor load. Simulation results demonstrate a significant reduction in power consumption, highlighting the effectiveness of this approach in enhancing robotic locomotion.

Precipitation nowcasting is crucial across various industries and plays a significant role in mitigating and adapting to climate change. We introduce an efficient deep learning model for precipitation nowcasting, capable of predicting rainfall up to 8 hours in advance with greater accuracy than existing operational physics-based and extrapolation-based models. Our model leverages multi-source meteorological data and physics-based forecasts to deliver high-resolution predictions in both time and space. It captures complex spatio-temporal dynamics through temporal attention networks and is optimized using data quality maps and dynamic thresholds. Experiments demonstrate that our model outperforms state-of-the-art, and highlight its potential for fast reliable responses to evolving weather conditions.

This paper investigates tree species classification using Sentinel-2 multispectral satellite image time-series. Despite their critical importance for many applications, such maps are often unavailable, outdated, or inaccurate for large areas. The interest of using remote sensing time series to produce these maps has been highlighted in many studies. However, many methods proposed in the literature still rely on a standard classification algorithm, usually the Random Forest (RF) algorithm with vegetation indices. This study shows that the use of deep learning models can lead to a significant improvement in classification results, especially in an imbalanced context where the RF algorithm tends to predict towards the majority class. In our use case in the center of France with 10 tree species, we obtain an overall accuracy (OA) around 95% and a F1-macro score around 80% using three different benchmark deep learning architectures. In contrast, using the RF algorithm yields an OA of 93% and an F1 of 60%, indicating that the minority classes are not classified with sufficient accuracy. Therefore, the proposed framework is a strong baseline that can be easily implemented in most scenarios, even with a limited amount of reference data. Our results highlight that standard multilayer perceptron can be competitive with batch normalization and a sufficient amount of parameters. Other architectures (convolutional or attention-based) can also achieve strong results when tuned properly. Furthermore, our results show that DL models are naturally robust to imbalanced data, although similar results can be obtained using dedicated techniques.

Ice conditions often require ships to reduce speed and deviate from their main course to avoid damage to the ship. In addition, broken ice fields are becoming the dominant ice conditions encountered in the Arctic, where the effects of collisions with ice are highly dependent on where contact occurs and on the particular features of the ice floes. In this paper, we present AUTO-IceNav, a framework for the autonomous navigation of ships operating in ice floe fields. Trajectories are computed in a receding-horizon manner, where we frequently replan given updated ice field data. During a planning step, we assume a nominal speed that is safe with respect to the current ice conditions, and compute a reference path. We formulate a novel cost function that minimizes the kinetic energy loss of the ship from ship-ice collisions and incorporate this cost as part of our lattice-based path planner. The solution computed by the lattice planning stage is then used as an initial guess in our proposed optimization-based improvement step, producing a locally optimal path. Extensive experiments were conducted both in simulation and in a physical testbed to validate our approach.