In autonomous robot navigation, terrain cost assignment is typically performed using a semantics-based paradigm in which terrain is first labeled using a pre-trained semantic classifier and costs are then assigned according to a user-defined mapping between label and cost. While this approach is rapidly adaptable to changing user preferences, only preferences over the types of terrain that are already known by the semantic classifier can be expressed. In this paper, we hypothesize that a machine-learning-based alternative to the semantics-based paradigm above will allow for rapid cost assignment adaptation to preferences expressed over new terrains at deployment time without the need for additional training. To investigate this hypothesis, we introduce and study PACER, a novel approach to costmap generation that accepts as input a single birds-eye view (BEV) image of the surrounding area along with a user-specified preference context and generates a corresponding BEV costmap that aligns with the preference context. Using both real and synthetic data along with a combination of proposed training tasks, we find that PACER is able to adapt quickly to new user preferences while also exhibiting better generalization to novel terrains compared to both semantics-based and representation-learning approaches.

Climate models serve as critical tools for evaluating the effects of climate change and projecting future climate scenarios. However, the reliance on numerical simulations of physical equations renders them computationally intensive and inefficient. While deep learning methodologies have made significant progress in weather forecasting, they are still unstable for climate emulation tasks. Here, we propose PACER, a lightweight 684K parameter Physics Informed Uncertainty Aware Climate Emulator. PACER emulates temperature and precipitation stably for 86 years while only being trained on greenhouse gas emissions data. We incorporate a fundamental physical law of advection-diffusion in PACER accounting for boundary conditions and empirically estimating the diffusion co-efficient and flow velocities from emissions data. PACER has been trained on 15 climate models provided by ClimateSet outperforming baselines across most of the climate models and advancing a new state of the art in a climate diagnostic task.

In this paper, we propose the first fully push-forward-based Distributional Reinforcement Learning algorithm, called Push-forward-based Actor-Critic EncourageR (PACER). Specifically, PACER establishes a stochastic utility value policy gradient theorem and simultaneously leverages the push-forward operator in the construction of both the actor and the critic. Moreover, based on maximum mean discrepancies (MMD), a novel sample-based encourager is designed to incentivize exploration. Experimental evaluations on various continuous control benchmarks demonstrate the superiority of our algorithm over the state-of-the-art.

We introduce a method for generating realistic pedestrian trajectories and full-body animations that can be controlled to meet user-defined goals. We draw on recent advances in guided diffusion modeling to achieve test-time controllability of trajectories, which is normally only associated with rule-based systems. Our guided diffusion model allows users to constrain trajectories through target waypoints, speed, and specified social groups while accounting for the surrounding environment context. This trajectory diffusion model is integrated with a novel physics-based humanoid controller to form a closed-loop, full-body pedestrian animation system capable of placing large crowds in a simulated environment with varying terrains. We further propose utilizing the value function learned during RL training of the animation controller to guide diffusion to produce trajectories better suited for particular scenarios such as collision avoidance and traversing uneven terrain. Video results are available on the project page at https://nv-tlabs.github.io/trace-pace .

Transformers have become the de-facto standard in the natural language processing (NLP) field. They have also gained momentum in computer vision and other domains. Transformers can enable artificial intelligence (AI) models to dynamically focus on certain parts of their input and thus reason more effectively. Inspired by the success of transformers, we adopted this technique to predict strategic flight departure demand in multiple horizons. This work was conducted in support of a MITRE-developed mobile application, Pacer, which displays predicted departure demand to general aviation (GA) flight operators so they can have better situation awareness of the potential for departure delays during busy periods. Field demonstrations involving Pacer's previously designed rule-based prediction method showed that the prediction accuracy of departure demand still has room for improvement. This research strives to improve prediction accuracy from two key aspects: better data sources and robust forecasting algorithms. We leveraged two data sources, Aviation System Performance Metrics (ASPM) and System Wide Information Management (SWIM), as our input. We then trained forecasting models with temporal fusion transformer (TFT) for five different airports. Case studies show that TFTs can perform better than traditional forecasting methods by large margins, and they can result in better prediction across diverse airports and with better interpretability.

Arenas are increasingly becoming high-tech affairs, from super-fast Wi-Fi to the massive displays that keep fans apprised of the action. But as Bloomberg reports, the Indiana Pacers and a startup called WaitTime are teaming up to battle a major gametime inconvenience: long lines at the concession stands. WaitTime uses cameras and artificial intelligence to steer fans to the shortest concession stand lines, so they can quickly buy their food and beverages and get back to the game. "WaitTime gives stadium operations access to information on crowd movement, line length and line attrition, allowing them to proactively respond to the needs of fans where they are," the company says on its website. Check our signs out tonight at the @ThePalace for the @Adele concert!