In multi-point contact systems, precise force control is crucial for achieving stable and safe interactions between robots and their environment. Thus, we demonstrate an admittance controller with auto-tuning that can be applied for these systems. The controller's objective is to track the target wrench profiles of each contact point while considering the additional torque due to rotational friction. Our admittance controller is adaptive during online operation by using an auto-tuning method that tunes the gains of the controller while following user-specified training objectives. These objectives include facilitating controller stability, such as tracking the wrench profiles as closely as possible, ensuring control outputs are within force limits that minimize slippage, and avoiding configurations that induce kinematic singularity. We demonstrate the robustness of our controller on hardware for both manipulation and locomotion tasks using a multi-limbed climbing robot.

Achieving highly accurate dynamic or simulator models that are close to the real robot can facilitate model-based controls (e.g., model predictive control or linear-quadradic regulators), model-based trajectory planning (e.g., trajectory optimization), and decrease the amount of learning time necessary for reinforcement learning methods. Thus, the objective of this work is to learn the residual errors between a dynamic and/or simulator model and the real robot. This is achieved using a neural network, where the parameters of a neural network are updated through an Unscented Kalman Filter (UKF) formulation. Using this method, we model these residual errors with only small amounts of data -- a necessity as we improve the simulator/dynamic model by learning directly from real-world operation. We demonstrate our method on robotic hardware (e.g., manipulator arm, and a wheeled robot), and show that with the learned residual errors, we can further close the reality gap between dynamic models, simulations, and actual hardware.

This paper introduces SCALER, a quadrupedal robot that demonstrates climbing on bouldering walls, overhangs, ceilings and trotting on the ground. SCALER is one of the first high-degrees of freedom four-limbed robots that can free-climb under the Earth's gravity and one of the most mechanically efficient quadrupeds on the ground. Where other state-of-the-art climbers specialize in climbing, SCALER promises practical free-climbing with payload \textit{and} ground locomotion, which realizes true versatile mobility. A new climbing gait, SKATE gait, increases the payload by utilizing the SCALER body linkage mechanism. SCALER achieves a maximum normalized locomotion speed of $1.87$ /s, or $0.56$ m/s on the ground and $1.0$ /min, or $0.35$ m/min in bouldering wall climbing. Payload capacity reaches $233$ % of the SCALER weight on the ground and $35$ % on the vertical wall. Our GOAT gripper, a mechanically adaptable underactuated two-finger gripper, successfully grasps convex and non-convex objects and supports SCALER.

While motion planning of locomotion for legged robots has shown great success, motion planning for legged robots with dexterous multi-finger grasping is not mature yet. We present an efficient motion planning framework for simultaneously solving locomotion (e.g., centroidal dynamics), grasping (e.g., patch contact), and contact (e.g., gait) problems. To accelerate the planning process, we propose distributed optimization frameworks based on Alternating Direction Methods of Multipliers (ADMM) to solve the original large-scale Mixed-Integer NonLinear Programming (MINLP). The resulting frameworks use Mixed-Integer Quadratic Programming (MIQP) to solve contact and NonLinear Programming (NLP) to solve nonlinear dynamics, which are more computationally tractable and less sensitive to parameters. Also, we explicitly enforce patch contact constraints from limit surfaces with micro-spine grippers. We demonstrate our proposed framework in the hardware experiments, showing that the multi-limbed robot is able to realize various motions including free-climbing at a slope angle 45{\deg} with a much shorter planning time.

Aggregate data often appear in various fields such as socio-economics and public security. The aggregate data are associated not with points but with supports (e.g., spatial regions in a city). Since the supports may have various granularities depending on attributes (e.g., poverty rate and crime rate), modeling such data is not straightforward. This article offers a multi-output Gaussian process (MoGP) model that infers functions for attributes using multiple aggregate datasets of respective granularities. In the proposed model, the function for each attribute is assumed to be a dependent GP modeled as a linear mixing of independent latent GPs. We design an observation model with an aggregation process for each attribute; the process is an integral of the GP over the corresponding support. We also introduce a prior distribution of the mixing weights, which allows a knowledge transfer across domains (e.g., cities) by sharing the prior. This is advantageous in such a situation where the spatially aggregated dataset in a city is too coarse to interpolate; the proposed model can still make accurate predictions of attributes by utilizing aggregate datasets in other cities. The inference of the proposed model is based on variational Bayes, which enables one to learn the model parameters using the aggregate datasets from multiple domains. The experiments demonstrate that the proposed model outperforms in the task of refining coarse-grained aggregate data on real-world datasets: Time series of air pollutants in Beijing and various kinds of spatial datasets from New York City and Chicago.

We propose a few-shot learning method for spatial regression. Although Gaussian processes (GPs) have been successfully used for spatial regression, they require many observations in the target task to achieve a high predictive performance. Our model is trained using spatial datasets on various attributes in various regions, and predicts values on unseen attributes in unseen regions given a few observed data. With our model, a task representation is inferred from given small data using a neural network. Then, spatial values are predicted by neural networks with a GP framework, in which task-specific properties are controlled by the task representations. The GP framework allows us to analytically obtain predictions that are adapted to small data. By using the adapted predictions in the objective function, we can train our model efficiently and effectively so that the test predictive performance improves when adapted to newly given small data. In our experiments, we demonstrate that the proposed method achieves better predictive performance than existing meta-learning methods using spatial datasets.

Optimal Transport (OT) is being widely used in various fields such as machine learning and computer vision, as it is a powerful tool for measuring the similarity between probability distributions and histograms. In previous studies, OT has been defined as the minimum cost to transport probability mass from one probability distribution to another. In this study, we propose a new framework in which OT is considered as a maximum a posteriori (MAP) solution of a probabilistic generative model. With the proposed framework, we show that OT with entropic regularization is equivalent to maximizing a posterior probability of a probabilistic model called Collective Graphical Model (CGM), which describes aggregated statistics of multiple samples generated from a graphical model. Interpreting OT as a MAP solution of a CGM has the following two advantages: (i) We can calculate the discrepancy between noisy histograms by modeling noise distributions. Since various distributions can be used for noise modeling, it is possible to select the noise distribution flexibly to suit the situation. (ii) We can construct a new method for interpolation between histograms, which is an important application of OT. The proposed method allows for intuitive modeling based on the probabilistic interpretations, and a simple and efficient estimation algorithm is available. Experiments using synthetic and real-world spatio-temporal population datasets show the effectiveness of the proposed interpolation method.

We propose a probabilistic model for inferring the multivariate function from multiple areal data sets with various granularities. Here, the areal data are observed not at location points but at regions. Existing regression-based models require the fine-grained auxiliary data sets on the same domain. With the proposed model, the functions for respective areal data sets are assumed to be a multivariate dependent Gaussian process (GP) that is modeled as a linear mixing of independent latent GPs. Sharing of latent GPs across multiple areal data sets allows us to effectively estimate spatial correlation for each areal data set; moreover it can easily be extended to transfer learning across multiple domains. To handle the multivariate areal data, we design its observation model with a spatial aggregation process for each areal data set, which is an integral of the mixed GP over the corresponding region. By deriving the posterior GP, we can predict the data value at any location point by considering the spatial correlations and the dependences between areal data sets simultaneously. Our experiments on real-world data sets demonstrate that our model can 1) accurately refine the coarse-grained areal data, and 2) offer performance improvements by using the areal data sets from multiple domains.

Predicting when and where events will occur in cities, like taxi pick-ups, crimes, and vehicle collisions, is a challenging and important problem with many applications in fields such as urban planning, transportation optimization and location-based marketing. Though many point processes have been proposed to model events in a continuous spatio-temporal space, none of them allow for the consideration of the rich contextual factors that affect event occurrence, such as weather, social activities, geographical characteristics, and traffic. In this paper, we propose \textsf{DMPP} (Deep Mixture Point Processes), a point process model for predicting spatio-temporal events with the use of rich contextual information; a key advance is its incorporation of the heterogeneous and high-dimensional context available in image and text data. Specifically, we design the intensity of our point process model as a mixture of kernels, where the mixture weights are modeled by a deep neural network. This formulation allows us to automatically learn the complex nonlinear effects of the contextual factors on event occurrence. At the same time, this formulation makes analytical integration over the intensity, which is required for point process estimation, tractable. We use real-world data sets from different domains to demonstrate that DMPP has better predictive performance than existing methods.

We propose a probabilistic model for refining coarse-grained spatial data by utilizing auxiliary spatial data sets. Existing methods require that the spatial granularities of the auxiliary data sets are the same as the desired granularity of target data. The proposed model can effectively make use of auxiliary data sets with various granularities by hierarchically incorporating Gaussian processes. With the proposed model, a distribution for each auxiliary data set on the continuous space is modeled using a Gaussian process, where the representation of uncertainty considers the levels of granularity. The fine-grained target data are modeled by another Gaussian process that considers both the spatial correlation and the auxiliary data sets with their uncertainty. We integrate the Gaussian process with a spatial aggregation process that transforms the fine-grained target data into the coarse-grained target data, by which we can infer the fine-grained target Gaussian process from the coarse-grained data. Our model is designed such that the inference of model parameters based on the exact marginal likelihood is possible, in which the variables of fine-grained target and auxiliary data are analytically integrated out. Our experiments on real-world spatial data sets demonstrate the effectiveness of the proposed model.