Accurate real-time prediction of formation pressure and kick detection is crucial for drilling operations, as it can significantly improve decision-making and the cost-effectiveness of the process. Data-driven models have gained popularity for automating drilling operations by predicting formation pressure and detecting kicks. However, the current literature does not make supporting datasets publicly available to advance research in the field of drilling rigs, thus impeding technological progress in this domain. This paper introduces two new datasets to support researchers in developing intelligent algorithms to enhance oil/gas well drilling research. The datasets include data samples for formation pressure prediction and kick detection with 28 drilling variables and more than 2000 data samples. Principal component regression is employed to forecast formation pressure, while principal component analysis is utilized to identify kicks for the dataset's technical validation. Notably, the R2 and Residual Predictive Deviation scores for principal component regression are 0.78 and 0.922, respectively.

As large language models (LLMs) become increasingly advanced, their ability to exhibit compositional generalization -- the capacity to combine learned skills in novel ways not encountered during training -- has garnered significant attention. This type of generalization, particularly in scenarios beyond training data, is also of great interest in the study of AI safety and alignment. A recent study introduced the SKILL-MIX evaluation, where models are tasked with composing a short paragraph demonstrating the use of a specified $k$-tuple of language skills. While small models struggled with composing even with $k=3$, larger models like GPT-4 performed reasonably well with $k=5$ and $6$. In this paper, we employ a setup akin to SKILL-MIX to evaluate the capacity of smaller models to learn compositional generalization from examples. Utilizing a diverse set of language skills -- including rhetorical, literary, reasoning, theory of mind, and common sense -- GPT-4 was used to generate text samples that exhibit random subsets of $k$ skills. Subsequent fine-tuning of 7B and 13B parameter models on these combined skill texts, for increasing values of $k$, revealed the following findings: (1) Training on combinations of $k=2$ and $3$ skills results in noticeable improvements in the ability to compose texts with $k=4$ and $5$ skills, despite models never having seen such examples during training. (2) When skill categories are split into training and held-out groups, models significantly improve at composing texts with held-out skills during testing despite having only seen training skills during fine-tuning, illustrating the efficacy of the training approach even with previously unseen skills. This study also suggests that incorporating skill-rich (potentially synthetic) text into training can substantially enhance the compositional capabilities of models.

Abstract-- We propose WildFusion, a novel approach for 3D scene reconstruction in unstructured, in-the-wild environments using multimodal implicit neural representations. This multimodal fusion generates comprehensive, continuous environmental representations, including pixel-level geometry, color, semantics, and traversability. Through real-world experiments on legged robot navigation in challenging forest environments, WildFusion demonstrates improved route selection by accurately predicting traversability. Our results highlight its potential to advance robotic navigation and 3D mapping in complex outdoor terrains. Robots need effective environmental representations to navigate safely and accomplish tasks successfully in unstructured Figure 1: WildFusion integrates LiDAR, camera, microphones, outdoor environments - often referred to as "in-thewild" and tactile sensors with implicit neural representations for settings such as monitoring high-voltage power lines continuous 3D scene reconstruction.

The next ubiquitous computing platform, following personal computers and smartphones, is poised to be inherently autonomous, encompassing technologies like drones, robots, and self-driving cars. Ensuring reliability for these autonomous machines is critical. However, current resiliency solutions make fundamental trade-offs between reliability and cost, resulting in significant overhead in performance, energy consumption, and chip area. This is due to the "one-size-fits-all" approach commonly used, where the same protection scheme is applied throughout the entire software computing stack. This paper presents the key insight that to achieve high protection coverage with minimal cost, we must leverage the inherent variations in robustness across different layers of the autonomous machine software stack. Specifically, we demonstrate that various nodes in this complex stack exhibit different levels of robustness against hardware faults. Our findings reveal that the front-end of an autonomous machine's software stack tends to be more robust, whereas the back-end is generally more vulnerable. Building on these inherent robustness differences, we propose a Vulnerability-Adaptive Protection (VAP) design paradigm. In this paradigm, the allocation of protection resources - whether spatially (e.g., through modular redundancy) or temporally (e.g., via re-execution) - is made inversely proportional to the inherent robustness of tasks or algorithms within the autonomous machine system. Experimental results show that VAP provides high protection coverage while maintaining low overhead in both autonomous vehicle and drone systems.

As the growing demand for long sequence time-series forecasting in real-world applications, such as electricity consumption planning, the significance of time series forecasting becomes increasingly crucial across various domains. This is highlighted by recent advancements in representation learning within the field. This study introduces a novel multi-view approach for time series forecasting that innovatively integrates trend and seasonal representations with an Independent Component Analysis (ICA)-based representation. Recognizing the limitations of existing methods in representing complex and high-dimensional time series data, this research addresses the challenge by combining TS (trend and seasonality) and ICA (independent components) perspectives. This approach offers a holistic understanding of time series data, going beyond traditional models that often miss nuanced, nonlinear relationships. The efficacy of TSI model is demonstrated through comprehensive testing on various benchmark datasets, where it shows superior performance over current state-of-the-art models, particularly in multivariate forecasting. This method not only enhances the accuracy of forecasting but also contributes significantly to the field by providing a more in-depth understanding of time series data. The research which uses ICA for a view lays the groundwork for further exploration and methodological advancements in time series forecasting, opening new avenues for research and practical applications.

We present the Duke Humanoid, an open-source 10-degrees-of-freedom humanoid, as an extensible platform for locomotion research. The design mimics human physiology, with minimized leg distances and symmetrical body alignment in the frontal plane to maintain static balance with straight knees. We develop a reinforcement learning policy that can be deployed zero-shot on the hardware for velocity-tracking walking tasks. Additionally, to enhance energy efficiency in locomotion, we propose an end-to-end reinforcement learning algorithm that encourages the robot to leverage passive dynamics. Our experiment results show that our passive policy reduces the cost of transport by up to $50\%$ in simulation and $31\%$ in real-world testing. Our website is http://generalroboticslab.com/DukeHumanoidv1/ .

Constrained Reinforcement Learning (RL) has emerged as a significant research area within RL, where integrating constraints with rewards is crucial for enhancing safety and performance across diverse control tasks. In the context of heating systems in the buildings, optimizing the energy efficiency while maintaining the residents' thermal comfort can be intuitively formulated as a constrained optimization problem. However, to solve it with RL may require large amount of data. Therefore, an accurate and versatile simulator is favored. In this paper, we propose a novel building simulator I4B which provides interfaces for different usages and apply a model-free constrained RL algorithm named constrained Soft Actor-Critic with Linear Smoothed Log Barrier function (CSAC-LB) to the heating optimization problem. Benchmarking against baseline algorithms demonstrates CSAC-LB's efficiency in data exploration, constraint satisfaction and performance.

Distribution system operators (DSOs) must cope with new challenges such as the reconstruction of distribution grids along climate neutrality pathways or the ability to manage and control consumption and generation in the grid. In order to meet the challenges, measurements within the distribution grid often form the basis for DSOs. Hence, it is an urgent problem that measurement devices are not installed in many low-voltage (LV) grids. In order to overcome this problem, we present an approach to estimate pseudo-measurements for non-measured LV feeders based on the metadata of the respective feeder using regression models. The feeder metadata comprise information about the number of grid connection points, the installed power of consumers and producers, and billing data in the downstream LV grid. Additionally, we use weather data, calendar data and timestamp information as model features. The existing measurements are used as model target. We extensively evaluate the estimated pseudo-measurements on a large real-world dataset with 2,323 LV feeders characterized by both consumption and feed-in. For this purpose, we introduce peak metrics inspired by the BigDEAL challenge for the peak magnitude, timing and shape for both consumption and feed-in. As regression models, we use XGBoost, a multilayer perceptron (MLP) and a linear regression (LR). We observe that XGBoost and MLP outperform the LR. Furthermore, the results show that the approach adapts to different weather, calendar and timestamp conditions and produces realistic load curves based on the feeder metadata. In the future, the approach can be adapted to other grid levels like substation transformers and can supplement research fields like load modeling, state estimation and LV load forecasting.

Self-attention module shows outstanding competence in capturing long-range relationships while enhancing performance on vision tasks, such as image classification and image captioning. However, the self-attention module highly relies on the dot product multiplication and dimension alignment among query-key-value features, which cause two problems: (1) The dot product multiplication results in exhaustive and redundant computation. (2) Due to the visual feature map often appearing as a multi-dimensional tensor, reshaping the scale of the tensor feature to adapt to the dimension alignment might destroy the internal structure of the tensor feature map. To address these problems, this paper proposes a self-attention plug-in module with its variants, namely, Synthesizing Tensor Transformations (STT), for directly processing image tensor features. Without computing the dot-product multiplication among query-key-value, the basic STT is composed of the tensor transformation to learn the synthetic attention weight from visual information. The effectiveness of STT series is validated on the image classification and image caption. Experiments show that the proposed STT achieves competitive performance while keeping robustness compared to self-attention in the aforementioned vision tasks.

Complex distribution shifts are the main obstacle to achieving accurate long-term time series forecasting. Several efforts have been conducted to capture the distribution characteristics and propose adaptive normalization techniques to alleviate the influence of distribution shifts. However, these methods neglect the intricate distribution dynamics observed from various scales and the evolving functions of distribution dynamics and normalized mapping relationships. To this end, we propose a novel model-agnostic Evolving Multi-Scale Normalization (EvoMSN) framework to tackle the distribution shift problem. Flexible normalization and denormalization are proposed based on the multi-scale statistics prediction module and adaptive ensembling. An evolving optimization strategy is designed to update the forecasting model and statistics prediction module collaboratively to track the shifting distributions. We evaluate the effectiveness of EvoMSN in improving the performance of five mainstream forecasting methods on benchmark datasets and also show its superiority compared to existing advanced normalization and online learning approaches. The code is publicly available at https://github.com/qindalin/EvoMSN.