One possible way of making thermal processing controllable is to gather real-time information on the product's current state. Often, sensory equipment cannot capture all relevant information easily or at all. Digital Twins close this gap with virtual probes in real-time simulations, synchronized with the process. This paper proposes a physics-based, data-driven Digital Twin framework for autonomous food processing. We suggest a lean Digital Twin concept that is executable at the device level, entailing minimal computational load, data storage, and sensor data requirements. This study focuses on a parsimonious experimental design for training non-intrusive reduced-order models (ROMs) of a thermal process. A correlation ($R=-0.76$) between a high standard deviation of the surface temperatures in the training data and a low root mean square error in ROM testing enables efficient selection of training data. The mean test root mean square error of the best ROM is less than 1 Kelvin (0.2 % mean average percentage error) on representative test sets. Simulation speed-ups of Sp $\approx$ 1.8E4 allow on-device model predictive control. The proposed Digital Twin framework is designed to be applicable within the industry. Typically, non-intrusive reduced-order modeling is required as soon as the modeling of the process is performed in software, where root-level access to the solver is not provided, such as commercial simulation software. The data-driven training of the reduced-order model is achieved with only one data set, as correlations are utilized to predict the training success a priori.

There has been increasing interest in smart factories powered by robotics systems to tackle repetitive, laborious tasks. One impactful yet challenging task in robotics-powered smart factory applications is robotic grasping: using robotic arms to grasp objects autonomously in different settings. Robotic grasping requires a variety of computer vision tasks such as object detection, segmentation, grasp prediction, pick planning, etc. While significant progress has been made in leveraging of machine learning for robotic grasping, particularly with deep learning, a big challenge remains in the need for large-scale, high-quality RGBD datasets that cover a wide diversity of scenarios and permutations. To tackle this big, diverse data problem, we are inspired by the recent rise in the concept of metaverse, which has greatly closed the gap between virtual worlds and the physical world. Metaverses allow us to create digital twins of real-world manufacturing scenarios and to virtually create different scenarios from which large volumes of data can be generated for training models. In this paper, we present MetaGraspNet: a large-scale benchmark dataset for vision-driven robotic grasping via physics-based metaverse synthesis. The proposed dataset contains 100,000 images and 25 different object types and is split into 5 difficulties to evaluate object detection and segmentation model performance in different grasping scenarios. We also propose a new layout-weighted performance metric alongside the dataset for evaluating object detection and segmentation performance in a manner that is more appropriate for robotic grasp applications compared to existing general-purpose performance metrics. Our benchmark dataset is available open-source on Kaggle, with the first phase consisting of detailed object detection, segmentation, layout annotations, and a layout-weighted performance metric script.

Some of the world's biggest companies are going all-in on the metaverse. One you may not know about is Ansys, a US public company that makes engineering simulation software and has been around since 1970. Dr. Prith Banerjee is its Chief Technology Officer, and I spoke to him last week about his vision for the metaverse -- and specifically, why he thinks the metaverse can't reach its full potential without "optimum physics-based modeling and simulation." Ansys, it turns out, already has a number of partnerships with companies building the metaverse -- including global telecoms companies, microchip and GPU manufacturers, data center and storage companies, and "all the cloud providers," according to Banerjee. He said that Ansys provides a mix of hardware and software expertise to these customers; everything from building hardware to designing a structural electromagnetics system.

In automatic speech recognition (ASR) research, discriminative criteria have achieved superior performance in DNN-HMM systems. Given this success, the adoption of discriminative criteria is promising to boost the performance of end-to-end (E2E) ASR systems. With this motivation, previous works have introduced the minimum Bayesian risk (MBR, one of the discriminative criteria) into E2E ASR systems. However, the effectiveness and efficiency of the MBR-based methods are compromised: the MBR criterion is only used in system training, which creates a mismatch between training and decoding; the on-the-fly decoding process in MBR-based methods results in the need for pre-trained models and slow training speeds. To this end, novel algorithms are proposed in this work to integrate another widely used discriminative criterion, lattice-free maximum mutual information (LF-MMI), into E2E ASR systems not only in the training stage but also in the decoding process. The proposed LF-MMI training and decoding methods show their effectiveness on two widely used E2E frameworks: Attention-Based Encoder-Decoders (AEDs) and Neural Transducers (NTs). Compared with MBR-based methods, the proposed LF-MMI method: maintains the consistency between training and decoding; eschews the on-the-fly decoding process; trains from randomly initialized models with superior training efficiency. Experiments suggest that the LF-MMI method outperforms its MBR counterparts and consistently leads to statistically significant performance improvements on various frameworks and datasets from 30 hours to 14.3k hours. The proposed method achieves state-of-the-art (SOTA) results on Aishell-1 (CER 4.10%) and Aishell-2 (CER 5.02%) datasets. Code is released.

Designing and implementing explainable systems is seen as the next step towards increasing user trust in, acceptance of and reliance on Artificial Intelligence (AI) systems. While explaining choices made by black-box algorithms such as machine learning and deep learning has occupied most of the limelight, systems that attempt to explain decisions (even simple ones) in the context of social choice are steadily catching up. In this paper, we provide a comprehensive survey of explainability in mechanism design, a domain characterized by economically motivated agents and often having no single choice that maximizes all individual utility functions. We discuss the main properties and goals of explainability in mechanism design, distinguishing them from those of Explainable AI in general. This discussion is followed by a thorough review of the challenges one may face when working on Explainable Mechanism Design and propose a few solution concepts to those.

Node classification using Graph Neural Networks (GNNs) has been widely applied in various real-world scenarios. However, in recent years, compelling evidence emerges that the performance of GNN-based node classification may deteriorate substantially by topological perturbation, such as random connections or adversarial attacks. Various solutions, such as topological denoising methods and mechanism design methods, have been proposed to develop robust GNN-based node classifiers but none of these works can fully address the problems related to topological perturbations. Recently, the Bayesian label transition model is proposed to tackle this issue but its slow convergence may lead to inferior performance. In this work, we propose a new label inference model, namely LInDT, which integrates both Bayesian label transition and topology-based label propagation for improving the robustness of GNNs against topological perturbations. LInDT is superior to existing label transition methods as it improves the label prediction of uncertain nodes by utilizing neighborhood-based label propagation leading to better convergence of label inference. Besides, LIndT adopts asymmetric Dirichlet distribution as a prior, which also helps it to improve label inference. Extensive experiments on five graph datasets demonstrate the superiority of LInDT for GNN-based node classification under three scenarios of topological perturbations.

Algorithmic Game theory is about strategic interactions among intelligent individuals, and mechanism design is about creating effective incentives in economic settings. Together, they're fascinating ways to understand human behavior and the challenges of designing and building systems. Algorithmic game theory (AGT) is a way of analyzing social interactions that use mathematical models to predict the strategies that individuals will adopt in any given situation. A simple game theory model can predict human behavior in many situations. But the surprising thing is that this same model can also explain the complex, self-organizing systems that power the World Wide Web.

Autonomous bin picking poses significant challenges to vision-driven robotic systems given the complexity of the problem, ranging from various sensor modalities, to highly entangled object layouts, to diverse item properties and gripper types. Existing methods often address the problem from one perspective. Diverse items and complex bin scenes require diverse picking strategies together with advanced reasoning. As such, to build robust and effective machine-learning algorithms for solving this complex task requires significant amounts of comprehensive and high quality data. Collecting such data in real world would be too expensive and time prohibitive and therefore intractable from a scalability perspective. To tackle this big, diverse data problem, we take inspiration from the recent rise in the concept of metaverses, and introduce MetaGraspNet, a large-scale photo-realistic bin picking dataset constructed via physics-based metaverse synthesis. The proposed dataset contains 217k RGBD images across 82 different article types, with full annotations for object detection, amodal perception, keypoint detection, manipulation order and ambidextrous grasp labels for a parallel-jaw and vacuum gripper. We also provide a real dataset consisting of over 2.3k fully annotated high-quality RGBD images, divided into 5 levels of difficulties and an unseen object set to evaluate different object and layout properties. Finally, we conduct extensive experiments showing that our proposed vacuum seal model and synthetic dataset achieves state-of-the-art performance and generalizes to real world use-cases.

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Abstract: Scientific machine learning (SciML) is the burgeoning field combining scientific knowledge with machine learning for data-efficient predictive modeling. We will introduce SciML as the key to effective learning in many engineering applications, such as improving the fidelity of climate models to accelerating clinical trials. This will lead us to the question on the frontier of SciML: what about stiffness? Stiffness is a pervasive quality throughout engineering systems and the most common cause of numerical difficulties in simulation. We will see that handling stiffness in learning, and thus real-world models, requires new training techniques.