Training robots with reinforcement learning (RL) typically involves heavy interactions with the environment, and the acquired skills are often sensitive to changes in task environments and robot kinematics. Transfer RL aims to leverage previous knowledge to accelerate learning of new tasks or new body configurations. However, existing methods struggle to generalize to novel robot-task combinations and scale to realistic tasks due to complex architecture design or strong regularization that limits the capacity of the learned policy. We propose Policy Stitching, a novel framework that facilitates robot transfer learning for novel combinations of robots and tasks. Our key idea is to apply modular policy design and align the latent representations between the modular interfaces. Our method allows direct stitching of the robot and task modules trained separately to form a new policy for fast adaptation. Our simulated and real-world experiments on various 3D manipulation tasks demonstrate the superior zero-shot and few-shot transfer learning performances of our method. Our project website is at: http://generalroboticslab.com/PolicyStitching/ .

In this paper, we present a next-best-view planning approach to autonomously size apple fruitlets. State-of-the-art viewpoint planners in agriculture are designed to size large and more sparsely populated fruit. They rely on lower resolution maps and sizing methods that do not generalize to smaller fruit sizes. To overcome these limitations, our method combines viewpoint sampling around semantically labeled regions of interest, along with an attention-guided information gain mechanism to more strategically select viewpoints that target the small fruits' volume. Additionally, we integrate a dual-map representation of the environment that is able to both speed up expensive ray casting operations and maintain the high occupancy resolution required to informatively plan around the fruit. When sizing, a robust estimation and graph clustering approach is introduced to associate fruit detections across images. Through simulated experiments, we demonstrate that our viewpoint planner improves sizing accuracy compared to state of the art and ablations. We also provide quantitative results on data collected by a real robotic system in the field.

Machine Learning models are being utilized extensively to drive recommender systems, which is a widely explored topic today. This is especially true of the music industry, where we are witnessing a surge in growth. Besides a large chunk of active users, these systems are fueled by massive amounts of data. These large-scale systems yield applications that aim to provide a better user experience and to keep customers actively engaged. In this paper, a distributed Machine Learning (ML) pipeline is delineated, which is capable of taking a subset of songs as input and producing a new subset of songs identified as being similar to the inputted subset. The publicly accessible Million Songs Dataset (MSD) enables researchers to develop and explore reasonably efficient systems for audio track analysis and recommendations, without having to access a commercialized music platform. The objective of the proposed application is to leverage an ML system trained to optimally recommend songs that a user might like.

Many clustering algorithms fail when clusters are of arbitrary shapes, of varying densities, or the data classes are unbalanced and close to each other, even in two dimensions. A novel clustering algorithm, DenMune is presented to meet this challenge. It is based on identifying dense regions using mutual nearest neighborhoods of size K, where K is the only parameter required from the user, besides obeying the mutual nearest neighbor consistency principle. The algorithm is stable for a wide range of values of K. Moreover, it is able to automatically detect and remove noise from the clustering process as well as detecting the target clusters. It produces robust results on various low and high-dimensional datasets relative to several known state-of-the-art clustering algorithms.

We propose a new class of models for variable clustering called Asymptotic Independent block (AI-block) models, which defines population-level clusters based on the independence of the maxima of a multivariate stationary mixing random process among clusters. This class of models is identifiable, meaning that there exists a maximal element with a partial order between partitions, allowing for statistical inference. We also present an algorithm for recovering the clusters of variables without specifying the number of clusters \emph{a priori}. Our work provides some theoretical insights into the consistency of our algorithm, demonstrating that under certain conditions it can effectively identify clusters in the data with a computational complexity that is polynomial in the dimension. This implies that groups can be learned nonparametrically in which block maxima of a dependent process are only sub-asymptotic. To further illustrate the significance of our work, we applied our method to neuroscience and environmental real-datasets. These applications highlight the potential and versatility of the proposed approach.

Despite the recent success in data-driven fault diagnosis of rotating machines, there are still remaining challenges in this field. Among the issues to be addressed, is the lack of information about variety of faults the system may encounter in the field. In this paper, we assume a partial knowledge of the system faults and use the corresponding data to train a convolutional neural network. A combination of t-SNE method and clustering techniques is then employed to detect novel faults. Upon detection, the network is augmented using the new data. Finally, a test setup is used to validate this two-stage methodology on a centrifugal pump and experimental results show high accuracy in detecting novel faults.

Decision trees are widely used in machine learning due to their simplicity in construction and interpretability. However, as data sizes grow, traditional methods for constructing and retraining decision trees become increasingly slow, scaling polynomially with the number of training examples. In this work, we introduce a novel quantum algorithm, named Des-q, for constructing and retraining decision trees in regression and binary classification tasks. Assuming the data stream produces small increments of new training examples, we demonstrate that our Des-q algorithm significantly reduces the time required for tree retraining, achieving a poly-logarithmic time complexity in the number of training examples, even accounting for the time needed to load the new examples into quantum-accessible memory. Our approach involves building a decision tree algorithm to perform k-piecewise linear tree splits at each internal node. These splits simultaneously generate multiple hyperplanes, dividing the feature space into k distinct regions. To determine the k suitable anchor points for these splits, we develop an efficient quantum-supervised clustering method, building upon the q-means algorithm of Kerenidis et al. Des-q first efficiently estimates each feature weight using a novel quantum technique to estimate the Pearson correlation. Subsequently, we employ weighted distance estimation to cluster the training examples in k disjoint regions and then proceed to expand the tree using the same procedure. We benchmark the performance of the simulated version of our algorithm against the state-of-the-art classical decision tree for regression and binary classification on multiple data sets with numerical features. Further, we showcase that the proposed algorithm exhibits similar performance to the state-of-the-art decision tree while significantly speeding up the periodic tree retraining.

Reliance on scanned documents and fax communication for healthcare referrals leads to high administrative costs and errors that may affect patient care. In this work we propose a hybrid model leveraging LayoutLMv3 along with domain-specific rules to identify key patient, physician, and exam-related entities in faxed referral documents. We explore some of the challenges in applying a document understanding model to referrals, which have formats varying by medical practice, and evaluate model performance using MUC-5 metrics to obtain appropriate metrics for the practical use case. Our analysis shows the addition of domain-specific rules to the transformer model yields greatly increased precision and F1 scores, suggesting a hybrid model trained on a curated dataset can increase efficiency in referral management.

In dynamic scenes, both localization and mapping in visual SLAM face significant challenges. In recent years, numerous outstanding research works have proposed effective solutions for the localization problem. However, there has been a scarcity of excellent works focusing on constructing long-term consistent maps in dynamic scenes, which severely hampers map applications. To address this issue, we have designed a multi-level map construction system tailored for dynamic scenes. In this system, we employ multi-object tracking algorithms, DBSCAN clustering algorithm, and depth information to rectify the results of object detection, accurately extract static point clouds, and construct dense point cloud maps and octree maps. We propose a plane map construction algorithm specialized for dynamic scenes, involving the extraction, filtering, data association, and fusion optimization of planes in dynamic environments, thus creating a plane map. Additionally, we introduce an object map construction algorithm targeted at dynamic scenes, which includes object parameterization, data association, and update optimization. Extensive experiments on public datasets and real-world scenarios validate the accuracy of the multi-level maps constructed in this study and the robustness of the proposed algorithms. Furthermore, we demonstrate the practical application prospects of our algorithms by utilizing the constructed object maps for dynamic object tracking.

In many applications in data clustering, it is desirable to find not just a single partition into clusters but a sequence of partitions describing the data at different scales, or levels of coarseness. A natural problem then is to analyse and compare the (not necessarily hierarchical) sequences of partitions that underpin such multiscale descriptions of data. Here, we introduce a filtration of abstract simplicial complexes, denoted the Multiscale Clustering Filtration (MCF), which encodes arbitrary patterns of cluster assignments across scales, and we prove that the MCF produces stable persistence diagrams. We then show that the zero-dimensional persistent homology of the MCF measures the degree of hierarchy in the sequence of partitions, and that the higher-dimensional persistent homology tracks the emergence and resolution of conflicts between cluster assignments across the sequence of partitions. To broaden the theoretical foundations of the MCF, we also provide an equivalent construction via a nerve complex filtration, and we show that in the hierarchical case, the MCF reduces to a Vietoris-Rips filtration of an ultrametric space. We briefly illustrate how the MCF can serve to characterise multiscale clustering structures in numerical experiments on synthetic data.