Reinforcement Learning (RL) has been shown to be effective and convenient for a number of tasks in robotics. However, it requires the exploration of a sufficiently large number of state-action pairs, many of which may be unsafe or unimportant. For instance, online model-free learning can be hazardous and inefficient in the absence of guarantees that a certain set of desired states will be reached during an episode. An increasingly common approach to address safety involves the addition of a shielding system that constrains the RL actions to a safe set of actions. In turn, a difficulty for such frameworks is how to effectively couple RL with the shielding system to make sure the exploration is not excessively restricted. This work presents a novel safe model-free RL agent called Critic As Lyapunov Function (CALF) and showcases how CALF can be used to improve upon control baselines in robotics in an efficient and convenient fashion while ensuring guarantees of stable goal reaching. The latter is a crucial part of safety, as seen generally. With CALF all state-action pairs remain explorable and yet reaching of desired goal states is formally guaranteed. Formal analysis is provided that shows the goal stabilization-ensuring properties of CALF and a set of real-world and numerical experiments with a non-holonomic wheeled mobile robot (WMR) TurtleBot3 Burger confirmed the superiority of CALF over such a well-established RL agent as proximal policy optimization (PPO), and a modified version of SARSA in a few-episode setting in terms of attained total cost.

Federated learning in satellite constellations, where the satellites collaboratively train a machine learning model, is a promising technology towards enabling globally connected intelligence and the integration of space networks into terrestrial mobile networks. The energy required for this computationally intensive task is provided either by solar panels or by an internal battery if the satellite is in Earth's shadow. Careful management of this battery and system's available energy resources is not only necessary for reliable satellite operation, but also to avoid premature battery aging. We propose a novel energy-aware computation time scheduler for satellite FL, which aims to minimize battery usage without any impact on the convergence speed. Numerical results indicate an increase of more than 3x in battery lifetime can be achieved over energy-agnostic task scheduling.

Non-intrusive load monitoring (NILM), as a key load monitoring technology, can much reduce the deployment cost of traditional power sensors. Previous research has largely focused on developing cloud-exclusive NILM algorithms, which often result in high computation costs and significant service delays. To address these issues, we propose a three-tier framework to enhance the real-world applicability of NILM systems through edge-cloud collaboration. Considering the computational resources available at both the edge and cloud, we implement a lightweight NILM model at the edge and a deep learning based model at the cloud, respectively. In addition to the differential model implementations, we also design a NILM-specific deployment scheme that integrates Gunicorn and NGINX to bridge the gap between theoretical algorithms and practical applications. To verify the effectiveness of the proposed framework, we apply real-world NILM scenario settings and implement the entire process of data acquisition, model training, and system deployment. The results demonstrate that our framework can achieve high decomposition accuracy while significantly reducing the cloud workload and communication overhead under practical considerations.

Drag-based swimming with rowing appendages, fins, and webbed feet is a widely adapted locomotion form in aquatic animals. To develop effective underwater and swimming vehicles, a wide range of bioinspired drag-based paddles have been proposed, often faced with a trade-off between propulsive efficiency and versatility. Webbed feet provide an effective propulsive force in the power phase, are light weight and robust, and can even be partially folded away in the recovery phase. However, during the transition between recovery and power phase, much time is lost folding and unfolding, leading to drag and reducing efficiency. In this work, we took inspiration from the coupling tendons of aquatic birds and utilized tendon coupling mechanisms to shorten the transition time between recovery and power phase. Results from our hardware experiments show that the proposed mechanisms improve propulsive efficiency by 2.0 and 2.4 times compared to a design without extensor tendons or based on passive paddle, respectively. We further report that distal leg joint clutching, which has been shown to improve efficiency in terrestrial walking, did not play an major role in swimming locomotion. In sum, we describe a new principle for an efficient, drag-based leg and paddle design, with potential relevance for the swimming mechanics in aquatic birds.

Electricity is difficult to store, except at prohibitive cost, and therefore the balance between generation and load must be maintained at all times. Electricity is traditionally managed by anticipating demand and intermittent production (wind, solar) and matching flexible production (hydro, nuclear, coal and gas). Accurate forecasting of electricity load and renewable production is therefore essential to ensure grid performance and stability. Both are highly dependent on meteorological variables (temperature, wind, sunshine). These dependencies are complex and difficult to model. On the one hand, spatial variations do not have a uniform impact because population, industry, and wind and solar farms are not evenly distributed across the territory. On the other hand, temporal variations can have delayed effects on load (due to the thermal inertia of buildings). With access to observations from different weather stations and simulated data from meteorological models, we believe that both phenomena can be modeled together. In today's state-of-the-art load forecasting models, the spatio-temporal modeling of the weather is fixed. In this work, we aim to take advantage of the automated representation and spatio-temporal feature extraction capabilities of deep neural networks to improve spatio-temporal weather modeling for load forecasting. We compare our deep learning-based methodology with the state-of-the-art on French national load. This methodology could also be fully adapted to forecasting renewable energy production.

The price elasticity of demand can be estimated from observational data using instrumental variables (IV). However, naive IV estimators may be inconsistent in settings with autocorrelated time series. We argue that causal time graphs can simplify IV identification and help select consistent estimators. To do so, we propose to first model the equilibrium condition by an unobserved confounder, deriving a directed acyclic graph (DAG) while maintaining the assumption of a simultaneous determination of prices and quantities. We then exploit recent advances in graphical inference to derive valid IV estimators, including estimators that achieve consistency by simultaneously estimating nuisance effects. We further argue that observing significant differences between the estimates of presumably valid estimators can help to reject false model assumptions, thereby improving our understanding of underlying economic dynamics. We apply this approach to the German electricity market, estimating the price elasticity of demand on simulated and real-world data. The findings underscore the importance of accounting for structural autocorrelation in IV-based analysis.

The aim of this paper is to propose an adaptation of the well known adaptive conformal inference (ACI) algorithm to achieve finite-sample coverage guarantees in multi-step ahead time-series forecasting in the online setting. ACI dynamically adjusts significance levels, and comes with finite-sample guarantees on coverage, even for non-exchangeable data. Our multi-step ahead ACI procedure inherits these guarantees at each prediction step, as well as for the overall error rate. The multi-step ahead ACI algorithm can be used with different target error and learning rates at different prediction steps, which is illustrated in our numerical examples, where we employ a version of the confromalised ridge regression algorithm, adapted to multi-input multi-output forecasting. The examples serve to show how the method works in practice, illustrating the effect of variable target error and learning rates for different prediction steps, which suggests that a balance may be struck between efficiency (interval width) and coverage.t

Current humanoid push-recovery strategies often use whole-body motion, yet posture regulation is often overlooked. For instance, during manipulation tasks, the upper body may need to stay upright and have minimal recovery displacement. This paper introduces a novel approach to enhancing humanoid push-recovery performance under unknown disturbances and regulating body posture by tailoring the recovery stepping strategy. We propose a hierarchical-MPC-based scheme that analyzes and detects instability in the prediction window and quickly recovers through adapting gait frequency. Our approach integrates a high-level nonlinear MPC, a posture-aware gait frequency adaptation planner, and a low-level convex locomotion MPC. The planners predict the center of mass (CoM) state trajectories that can be assessed for precursors of potential instability and posture deviation. In simulation, we demonstrate improved maximum recoverable impulse by 131% on average compared with baseline approaches. In hardware experiments, a 125 ms advancement in recovery stepping timing/reflex has been observed with the proposed approach, We also demonstrate improved push-recovery performance and minimized attitude change under 0.2 rad.

Robotic manipulators are widely used in various industries for complex and repetitive tasks. However, they remain vulnerable to unexpected hardware failures. In this study, we address the challenge of enabling a robotic manipulator to complete tasks despite joint malfunctions. Specifically, we develop a reinforcement learning (RL) framework to adaptively compensate for a non-functional joint during task execution. Our experimental platform is the Franka robot with 7 degrees of freedom (DOFs). We formulate the problem as a partially observable Markov decision process (POMDP), where the robot is trained under various joint failure conditions and tested in both seen and unseen scenarios. We consider scenarios where a joint is permanently broken and where it functions intermittently. Additionally, we demonstrate the effectiveness of our approach by comparing it with traditional inverse kinematics-based control methods. The results show that the RL algorithm enables the robot to successfully complete tasks even with joint failures, achieving a high success rate with an average rate of 93.6%. This showcases its robustness and adaptability. Our findings highlight the potential of RL to enhance the resilience and reliability of robotic systems, making them better suited for unpredictable environments. All related codes and models are published online.

The growing prevalence of inverter-based resources (IBRs) for renewable energy integration and electrification greatly challenges power system dynamic analysis. To account for both synchronous generators (SGs) and IBRs, this work presents an approach for learning the model of an individual dynamic component. The recurrent neural network (RNN) model is used to match the recursive structure in predicting the key dynamical states of a component from its terminal bus voltage and set-point input. To deal with the fast transients especially due to IBRs, we develop a Stable Integral (SI-)RNN to mimic high-order integral methods that can enhance the stability and accuracy for the dynamic learning task. We demonstrate that the proposed SI-RNN model not only can successfully predict the component's dynamic behaviors, but also offers the possibility of efficiently computing the dynamic sensitivity relative to a set-point change. These capabilities have been numerically validated based on full-order Electromagnetic Transient (EMT) simulations on a small test system with both SGs and IBRs, particularly for predicting the dynamics of grid-forming inverters.