Abstract--DiRAC is a scalable, distributed framework designed to enable efficient task assignment and path planning in very large robotic swarms. It introduces a novel zone-partitioned architecture with dynamically elected leaders and a tick-synchronized consensus protocol that yields strong consistency and deterministic outcomes. For path planning, DiRAC uses a novel algorithm, a force-based decentralized planner for real-time collision resolution. V alidated within ROS 2 middleware through preliminary simulation, DiRAC demonstrates architectural scalability and modular efficiency in simulated warehouse environments, laying the groundwork for real-world deployment in large-scale industrial and logistics domains. Index T erms--Swarm Robotics, Multi-Agent Systems, Distributed Consensus, T ask Assignment, Path Planning, Distributed Algorithms, Robot Coordination, Scalable Systems, Leader Election, Fault T olerance, Cooperative Control, Decentralized Control, ROS 2 Middleware.

Cutting state monitoring in the milling process is crucial for improving manufacturing efficiency and tool life. Cutting sound detection using machine learning (ML) models, inspired by experienced machinists, can be employed as a cost-effective and non-intrusive monitoring method in a complex manufacturing environment. However, labeling industry data for training is costly and time-consuming. Moreover, industry data is often scarce. In this study, we propose a novel adversarial domain adaptation (DA) approach to leverage abundant lab data to learn from scarce industry data, both labeled, for training a cutting-sound detection model. Rather than adapting the features from separate domains directly, we project them first into two separate latent spaces that jointly work as the feature space for learning domain-independent representations. We also analyze two different mechanisms for adversarial learning where the discriminator works as an adversary and a critic in separate settings, enabling our model to learn expressive domain-invariant and domain-ingrained features, respectively. We collected cutting sound data from multiple sensors in different locations, prepared datasets from lab and industry domain, and evaluated our learning models on them. Experiments showed that our models outperformed the multi-layer perceptron based vanilla domain adaptation models in labeling tasks on the curated datasets, achieving near 92%, 82% and 85% accuracy respectively for three different sensors installed in industry settings.

The spectrum of the weighted sample covariance shows a asymptotic non random behavior when the dimension grows with the number of samples. In this setting, we prove that the asymptotic spectral distribution $F$ of the weighted sample covariance has a continuous density on $\mathbb{R}^*$. We address then the practical problem of numerically finding this density. We propose a procedure to compute it, to determine the support of $F$ and define an efficient grid on it. We use this procedure to design the $\textit{WeSpeR}$ algorithm, which estimates the spectral density and retrieves the true spectral covariance spectrum. Empirical tests confirm the good properties of the $\textit{WeSpeR}$ algorithm.

It has become common sense that transferring intrinsic information from teachers to the greatest extent can expedite a student's learning progress, especially in machine learning given versatile and powerful teacher models. Learning with their assistance has been coined knowledge distillation (KD) (Hinton et al., 2015; Lopez-Paz et al., 2015), a famous paradigm of knowledge transfer leading to remarkable empirical effectiveness in classification tasks across various downstream applications (Gou et al., 2021; Wang and Yoon, 2021; Gu et al., 2023b). The term distillation implies a belief that the inscrutable teacher(s) may possess useful yet complicated structural information, which we should be able to compress and inject into a compact one, i.e., the student model (Breiman and Shang, 1996; Buciluǎ et al., 2006; Li et al., 2014; Ba and Caruana, 2014; Allen-Zhu and Li, 2020). This has guided the community towards a line of knowledge transfer methods featuring the awareness of teacher training details or snapshots, such as the original training set, the intermediate activations, the last-layer logits (for a probabilistic classifier), the first-or second-order derivative or statistical information, and even task-specific knowledge (Hinton et al., 2015; Furlanello et al., 2018; Cho and Hariharan, 2019; Zhao et al., 2022; Romero et al., 2014; Zagoruyko and Komodakis, 2016;

You might not have to buy a Lucid Air or Mercedes to listen to spatial audio in your car. Dolby and Swedish firm Dirac are collaborating to demo more immersive in-car audio technology. The partnership melds Dirac's optimization algorithms with Dolby Atmos support to deliver 3D sound as well as improve audio quality across the board. The combo can compensate for poor cabin acoustics (such as reflective surfaces and awkward speaker placement) while promising advanced sound staging normally reserved for home theaters. The two companies are showcasing their teamwork in demo cars, but you may have to wait a while to hear it in a vehicle you can drive.

Klipsch's redesigned T5 II true wireless earbuds are a big improvement over the T5 that debuted in 2019. However, the company's 2020 models didn't offer active noise cancellation (ANC) and only the pricier Sport version had wireless charging. Today, Klipsch is making both of those standard features with the T5 II ANC, plus it's throwing in AI-powered features from true wireless pioneer Bragi and Dirac HD Sound. All of the additions make this model a true flagship, right down to the premium price of $299. The T5 II ANC has the same design for both the earbuds and the case as the T5 II.

Probabilistic inference procedures are usually coded painstakingly from scratch, for each target model and each inference algorithm. We reduce this effort by generating inference procedures from models automatically. We make this code generation modular by decomposing inference algorithms into reusable program-to-program transformations. These transformations perform exact inference as well as generate probabilistic programs that compute expectations, densities, and MCMC samples. The resulting inference procedures are about as accurate and fast as other probabilistic programming systems on real-world problems.