The Duke Robotics Club is proud to present our robot for the 2023 RoboSub Competition: Oogway. Oogway marks one of the largest design overhauls in club history. Beyond a revamped formfactor, some of Oogway's notable features include all-new computer vision software, advanced sonar integration, novel acoustics hardware processing, and upgraded stereoscopic cameras. Oogway was built on the principle of independent, well-integrated, and reliable subsystems. Individual components and subsystems were tested and designed separately. Oogway's most advanced capabilities are a result of the tight integration between these subsystems. Such examples include sonar-assisted computer vision algorithms and robot-agnostic controls configured in part through the robot's 3D model. The success of constructing and testing Oogway in under 2 year's time can be attributed to 20+ contributing club members, supporters within Duke's Pratt School of Engineering, and outside sponsors.

The Duke Robotics Club is proud to present our robot for the 2024 RoboSub Competition: Oogway. Now in its second year, Oogway has been dramatically upgraded in both its capabilities and reliability. Oogway was built on the principle of independent, well-integrated, and reliable subsystems. Individual components and subsystems were tested and designed separately. Oogway's most advanced capabilities are a result of the tight integration between these subsystems. Such examples include a re-envisioned controls system, an entirely new electrical stack, advanced sonar integration, additional cameras and system monitoring, a new marker dropper, and a watertight capsule mechanism. These additions enabled Oogway to prequalify for Robosub 2024.

In real-world machine learning applications, data subsets correspond to especially critical outcomes: vulnerable cyclist detections are safety-critical in an autonomous driving task, and "question" sentences might be important to a dialogue agent's language understanding for product purposes. While machine learning models can achieve quality performance on coarse-grained metrics like F1-score and overall accuracy, they may underperform on these critical subsets---we define these as slices, the key abstraction in our approach. To address slice-level performance, practitioners often train separate "expert" models on slice subsets or use multi-task hard parameter sharing. We propose Slice-based Learning, a new programming model in which the slicing function (SF), a programmer abstraction, is used to specify additional model capacity for each slice. Any model can leverage SFs to learn slice-specific representations, which are combined with an attention mechanism to make slice-aware predictions.

Gibbs sampling is the de facto Markov chain Monte Carlo method used for inference and learning on large scale graphical models. For complicated factor graphs with lots of factors, the performance of Gibbs sampling can be limited by the computational cost of executing a single update step of the Markov chain. This cost is proportional to the degree of the graph, the number of factors adjacent to each variable. In this paper, we show how this cost can be reduced by using minibatching: subsampling the factors to form an estimate of their sum. We introduce several minibatched variants of Gibbs, show that they can be made unbiased, prove bounds on their convergence rates, and show that under some conditions they can result in asymptotic single-update-run-time speedups over plain Gibbs sampling.