Search

We propose a new language feature for ML-family languages, the ability to selectively unbox certain data constructors, so that their runtime representation gets compiled away to just the identity on their argument. Unboxing must be statically rejected when it could introduce confusions, that is, distinct values with the same representation. We discuss the use-case of big numbers, where unboxing allows to write code that is both efficient and safe, replacing either a safe but slow version or a fast but unsafe version. We explain the static analysis necessary to reject incorrect unboxing requests. We present our prototype implementation of this feature for the OCaml programming language, discuss several design choices and the interaction with advanced features such as Guarded Algebraic Datatypes. Our static analysis requires expanding type definitions in type expressions, which is not necessarily normalizing in presence of recursive type definitions. In other words, we must decide normalization of terms in the first-order lambda-calculus with recursion. We provide an algorithm to detect non-termination on-the-fly during reduction, with proofs of correctness and completeness. Our termination-monitoring algorithm turns out to be closely related to the normalization strategy for macro expansion in the `cpp` preprocessor.

Modeling the precise dynamics of off-road vehicles is a complex yet essential task due to the challenging terrain they encounter and the need for optimal performance and safety. Recently, there has been a focus on integrating nominal physics-based models alongside data-driven neural networks using Physics Informed Neural Networks. These approaches often assume the availability of a well-distributed dataset; however, this assumption may not hold due to regions in the physical distribution that are hard to collect, such as high-speed motions and rare terrains. Therefore, we introduce a physics-informed data augmentation methodology called PIAug. We show an example use case of the same by modeling high-speed and aggressive motion predictions, given a dataset with only low-speed data. During the training phase, we leverage the nominal model for generating target domain (medium and high velocity) data using the available source data (low velocity). Subsequently, we employ a physics-inspired loss function with this augmented dataset to incorporate prior knowledge of physics into the neural network. Our methodology results in up to 67% less mean error in trajectory prediction in comparison to a standalone nominal model, especially during aggressive maneuvers at speeds outside the training domain. In real-life navigation experiments, our model succeeds in 4x tighter waypoint tracking constraints than the Kinematic Bicycle Model (KBM) at out-of-domain velocities., Comment: Under Review at ICRA 2024

Let $\mathcal{B}(H)$ be the bounded, linear operators on a separable Hilbert space equipped with the norm topology. A property is called typical if the set of operators fulfilling the property is co-meager. We show that having non-empty continuous spectrum is a typical property and that the operators with non-empty point spectrum form a nowhere dense set. In addition we show that the set of operators with empty point spectrum is dense and characterize the closure of the set of those operators for which the spectrum and the point spectrum coincide., Comment: 17 pages, minor changes

In this paper, we present a fluid-based experimental molecular communication (MC) testbed that, similar to the human cardiovascular system, operates in a closed circuit tube system. The proposed system is designed to be biocompatible, resource-efficient, and controllable from outside the tube. As signaling molecule, the testbed employs the green fluorescent protein variant "Dreiklang" (GFPD). GFPDs can be reversibly switched via light of different wavelengths between a bright fluorescent state and a less fluorescent state. Hence, this property allows for writing and erasing information encoded in the state of the GFPDs already present in the fluid via radiation from outside the tube. The concept of modulating the GFPDs existing in the channel at the transmitter for information transmission, instead of releasing new molecules, is a form of media modulation. In our testbed, due to the closed loop setup and the long experiment durations of up to 250 min, we observe new forms of inter-symbol interferences (ISI), which do not occur in short experiments and open loop systems. In particular, up to four different forms of ISI, namely channel ISI, inter-loop ISI, offset ISI, and permanent ISI, occur in the considered system. To mitigate inter-loop ISI and offset ISI, we propose a light based eraser unit. We experimentally demonstrate reliable information transmission in our testbed achieving error-free transmission of 500 bit at a data rate of 6 bit/min based on a sub-optimal low-complexity detection scheme., Comment: 7 pages, 5 figures, 1 table. This work has been submitted for possible publication to the IEEE International Conference on Communications (ICC) 2024

Robust and accurate localization for Unmanned Aerial Vehicles (UAVs) is an essential capability to achieve autonomous, long-range flights. Current methods either rely heavily on GNSS, face limitations in visual-based localization due to appearance variances and stylistic dissimilarities between camera and reference imagery, or operate under the assumption of a known initial pose. In this paper, we developed a GNSS-denied localization approach for UAVs that harnesses both Visual-Inertial Odometry (VIO) and Visual Place Recognition (VPR) using a foundation model. This paper presents a novel vision-based pipeline that works exclusively with a nadir-facing camera, an Inertial Measurement Unit (IMU), and pre-existing satellite imagery for robust, accurate localization in varied environments and conditions. Our system demonstrated average localization accuracy within a $20$-meter range, with a minimum error below $1$ meter, under real-world conditions marked by drastic changes in environmental appearance and with no assumption of the vehicle's initial pose. The method is proven to be effective and robust, addressing the crucial need for reliable UAV localization in GNSS-denied environments, while also being computationally efficient enough to be deployed on resource-constrained platforms.

Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics and AI, with numerous applications in real-world scenarios. One such scenario is filming scenes with multiple actors, where the goal is to capture the scene from multiple angles simultaneously. Here, we present a formation-based filming directive of task assignment followed by a Conflict-Based MAPF algorithm for efficient path planning of multiple agents to achieve filming objectives while avoiding collisions. We propose an extension to the standard MAPF formulation to accommodate actor-specific requirements and constraints. Our approach incorporates Conflict-Based Search, a widely used heuristic search technique for solving MAPF problems. We demonstrate the effectiveness of our approach through experiments on various MAPF scenarios in a simulated environment. The proposed algorithm enables the efficient online task assignment of formation-based filming to capture dynamic scenes, making it suitable for various filming and coverage applications., Comment: 7 Pages, 4 Figures

In this work, we develop a method based on robust control techniques to synthesize robust time-varying state-feedback policies for finite, infinite, and receding horizon control problems subject to convex quadratic state and input constraints. To ensure constraint satisfaction of our policy, we employ (initial state)-to-peak gain techniques. Based on this idea, we formulate linear matrix inequality conditions, which are simultaneously convex in the parameters of an affine control policy, a Lyapunov function along the trajectory and multiplier variables for the uncertainties in a time-varying linear fractional transformation model. In our experiments this approach is less conservative than standard tube-based robust model predictive control methods., Comment: Extended version of a contribution to be submitted to the European Control Conference 2024

Deployment of teams of aerial robots could enable large-scale filming of dynamic groups of people (actors) in complex environments for applications in areas such as team sports and cinematography. Toward this end, methods for submodular maximization via sequential greedy planning can enable scalable optimization of camera views across teams of robots but face challenges with efficient coordination in cluttered environments. Obstacles can produce occlusions and increase chances of inter-robot collision which can violate requirements for near-optimality guarantees. To coordinate teams of aerial robots in filming groups of people in dense environments, a more general view-planning approach is required. We explore how collision and occlusion impact performance in filming applications through the development of a multi-robot multi-actor view planner with an occlusion-aware objective for filming groups of people and compare with a formation planner and a greedy planner that ignores inter-robot collisions. We evaluate our approach based on five test environments and complex multi-actor behaviors. Compared with a formation planner, our sequential planner generates 14% greater view reward for filming the actors in three scenarios and comparable performance to formation planning on two others. We also observe near identical view rewards for sequential planning both with and without inter-robot collision constraints which indicates that robots are able to avoid collisions without impairing performance in the perception task. Overall, we demonstrate effective coordination of teams of aerial robots in environments cluttered with obstacles that may cause collisions or occlusions and for filming groups that may split, merge, or spread apart., Comment: IROS'24; 8 pages, 8 figures, 2 tables

The pseudopotential method is used to derive electron hole structures in a suprathermal plasma having a regularized $\kappa$ probability distribution function background. The regularized character allows the exploration of small $\kappa$ values beyond the standard suprathermal case, for which $\kappa > 3/2$ is a necessary condition. We have found the nonlinear dispersion relation yielding the amplitude of the electrostatic potential in terms of the remaining parameters, in particular the drift velocity, the wavenumber and the spectral index. Periodic, solitary wave, drifting and non-drifting solutions have been identified. In the linear limit, the dispersion relation yields generalized Langmuir and electron acoustic plasma modes. Standard electron hole structures are regained in the $\kappa \gg 1$ limit.

The detection of gravitational waves from a binary neutron star merger by Advanced LIGO and Advanced Virgo (GW170817), along with the discovery of the electromagnetic counterparts of this gravitational wave event, ushered in a new era of multimessenger astronomy, providing the first direct evidence that BNS mergers are progenitors of short gamma-ray bursts (GRBs). Such events may also produce very-high-energy (VHE, > 100GeV) photons which have yet to be detected in coincidence with a gravitational wave signal. The Cherenkov Telescope Array (CTA) is a next-generation VHE observatory which aims to be indispensable in this search, with an unparalleled sensitivity and ability to slew anywhere on the sky within a few tens of seconds. New observing modes and follow-up strategies are being developed for CTA to rapidly cover localization areas of gravitational wave events that are typically larger than the CTA field of view. This work will evaluate and provide estimations on the expected number of of gravitational wave events that will be observable with CTA, considering both on- and off-axis emission. In addition, we will present and discuss the prospects of potential follow-up strategies with CTA., Comment: Presented at the 38th International Cosmic Ray Conference (ICRC 2023), 2023 (arXiv:2309.08219)

Inertial odometry (IO) using strap-down inertial measurement units (IMUs) is critical in many robotic applications where precise orientation and position tracking are essential. Prior kinematic motion model-based IO methods often use a simplified linearized IMU noise model and thus usually encounter difficulties in modeling non-deterministic errors arising from environmental disturbances and mechanical defects. In contrast, data-driven IO methods struggle to accurately model the sensor motions, often leading to generalizability and interoperability issues. To address these challenges, we present AirIMU, a hybrid approach to estimate the uncertainty, especially the non-deterministic errors, by data-driven methods and increase the generalization abilities using model-based methods. We demonstrate the adaptability of AirIMU using a full spectrum of IMUs, from low-cost automotive grades to high-end navigation grades. We also validate its effectiveness on various platforms, including hand-held devices, vehicles, and a helicopter that covers a trajectory of 262 kilometers. In the ablation study, we validate the effectiveness of our learned uncertainty in an IMU-GPS pose graph optimization experiment, achieving a 31.6\% improvement in accuracy. Experiments demonstrate that jointly training the IMU noise correction and uncertainty estimation synergistically benefits both tasks.

We propose an approach to solving constrained combinatorial optimization problems based on embedding the concept of Lagrangian duality into the framework of adiabatic quantum computation. Within the setting of circuit-model fault-tolerant quantum computation, we demonstrate that this approach achieves a quadratic improvement in circuit depth and maintains a constraint-independent circuit width in contrast to the prevalent approach of solving constrained problems via reformulations based on the quadratic unconstrained binary optimization (QUBO) framework. Our study includes a detailed review of the limitations encountered when using QUBO for constrained optimization. We show that the proposed method overcomes these limitations by encoding the optimal solution at an energetically elevated level of a simpler problem Hamiltonian, which results in substantially more resource-efficient quantum circuits. We consolidate our strategy with a detailed analysis on how the concepts of Lagrangian duality such as duality gap and complementary slackness relate to the success probability of sampling the optimal solution. Our findings are illustrated by benchmarking the Lagrangian dual approach against the QUBO approach using the NP-complete binary knapsack problem.

Very-high-energy gamma-ray observations of the Galactic center (GC) show extended emission that is strongly correlated with the morphology of the central molecular zone (CMZ). The best explanation for that emission is a hadronic interaction between cosmic rays (CRs) and ambient gas, where a CR central and continuous source accelerates protons up to 1 PeV ("PeVatron"). However, current models assume very simplistic CR dynamics. Our goal is to verify if more realistic CR dynamics for the GC environment are consistent with current gamma-ray observations, and whether they could be constrained by upcoming observations with the Cherenkov Telescope Array (CTA). We generated synthetic gamma-ray maps using a CR transport model with spherical injection, different diffusion regimes (in and out of the CMZ), polar advection, and mono-energetic particles of 1 PeV, and including different CR populations injected from the Arches, Quintuplet, and nuclear clusters of young massive stars, plus supernova Sgr A East. We adopted two different 3D gas distributions consistent with the observed gas column density, either with or without an inner cavity. In order to reproduce the existing observations detected by the High Energy Stereoscopic System (HESS), a ring-like gas distribution, with its mass set by the standard Galactic CO-to-H$_2$ conversion factor, and CR acceleration from all relevant sources are required. For a conversion factor one order of magnitude lower, injection rates that are ten times higher are needed. We show that CTA will be able to differentiate between models with different CR dynamics, proton sources, and CMZ morphology, owing to its unprecedented sensitivity and angular resolution. More realistic CR dynamics suggest that the CMZ has a large inner cavity and that the GC PeVatron is a composite CR population accelerated by the Arches, Quintuplet, and nuclear star clusters, and Sgr A East., Comment: Accepted for publication in A&A. 15 pages, 11 figures

While autonomous Uncrewed Aerial Vehicles (UAVs) have grown rapidly, most applications only focus on passive visual tasks. Aerial interaction aims to execute tasks involving physical interactions, which offers a way to assist humans in high-risk, high-altitude operations, thereby reducing cost, time, and potential hazards. The coupled dynamics between the aerial vehicle and manipulator, however, pose challenges for precision control. Previous research has typically employed either position control, which often fails to meet mission accuracy, or force control using expensive, heavy, and cumbersome force/torque sensors that also lack local semantic information. Conversely, tactile sensors, being both cost-effective and lightweight, are capable of sensing contact information including force distribution, as well as recognizing local textures. Existing work on tactile sensing mainly focuses on tabletop manipulation tasks within a quasi-static process. In this paper, we pioneer the use of vision-based tactile sensors on a fully-actuated UAV to improve the accuracy of the more dynamic aerial manipulation tasks. We introduce a pipeline utilizing tactile feedback for real-time force tracking via a hybrid motion-force controller and a method for wall texture detection during aerial interactions. Our experiments demonstrate that our system can effectively replace or complement traditional force/torque sensors, improving flight performance by approximately 16% in position tracking error when using the fused force estimate compared to relying on a single sensor. Our tactile sensor achieves 93.4% accuracy in real-time texture recognition and 100% post-contact. To the best of our knowledge, this is the first work to incorporate a vision-based tactile sensor into aerial interaction tasks., Comment: 7 pages, 5 figures

In the rapidly evolving field of medical imaging, machine learning algorithms have become indispensable for enhancing diagnostic accuracy. However, the effectiveness of these algorithms is contingent upon the availability and organization of high-quality medical imaging datasets. Traditional Digital Imaging and Communications in Medicine (DICOM) data management systems are inadequate for handling the scale and complexity of data required to be facilitated in machine learning algorithms. This paper introduces an innovative data curation tool, developed as part of the Kaapana open-source toolkit, aimed at streamlining the organization, management, and processing of large-scale medical imaging datasets. The tool is specifically tailored to meet the needs of radiologists and machine learning researchers. It incorporates advanced search, auto-annotation and efficient tagging functionalities for improved data curation. Additionally, the tool facilitates quality control and review, enabling researchers to validate image and segmentation quality in large datasets. It also plays a critical role in uncovering potential biases in datasets by aggregating and visualizing metadata, which is essential for developing robust machine learning models. Furthermore, Kaapana is integrated within the Radiological Cooperative Network (RACOON), a pioneering initiative aimed at creating a comprehensive national infrastructure for the aggregation, transmission, and consolidation of radiological data across all university clinics throughout Germany. A supplementary video showcasing the tool's functionalities can be accessed at https://bit.ly/MICCAI-DEMI2023.

The fast-growing demand for fully autonomous robots in shared spaces calls for the development of trustworthy agents that can safely and seamlessly navigate in crowded environments. Recent models for motion prediction show promise in characterizing social interactions in such environments. Still, adapting them for navigation is challenging as they often suffer from generalization failures. Prompted by this, we propose Social Robot Tree Search (SoRTS), an algorithm for safe robot navigation in social domains. SoRTS aims to augment existing socially aware motion prediction models for long-horizon navigation using Monte Carlo Tree Search. We use social navigation in general aviation as a case study to evaluate our approach and further the research in full-scale aerial autonomy. In doing so, we introduce XPlaneROS, a high-fidelity aerial simulator that enables human-robot interaction. We use XPlaneROS to conduct a first-of-its-kind user study where 26 FAA-certified pilots interact with a human pilot, our algorithm, and its ablation. Our results, supported by statistical evidence, show that SoRTS exhibits a comparable performance to competent human pilots, significantly outperforming its ablation. Finally, we complement these results with a broad set of self-play experiments to showcase our algorithm's performance in scenarios with increasing complexity., Comment: arXiv admin note: substantial text overlap with arXiv:2304.01428

PyPose is an open-source library for robot learning. It combines a learning-based approach with physics-based optimization, which enables seamless end-to-end robot learning. It has been used in many tasks due to its meticulously designed application programming interface (API) and efficient implementation. From its initial launch in early 2022, PyPose has experienced significant enhancements, incorporating a wide variety of new features into its platform. To satisfy the growing demand for understanding and utilizing the library and reduce the learning curve of new users, we present the fundamental design principle of the imperative programming interface, and showcase the flexible usage of diverse functionalities and modules using an extremely simple Dubins car example. We also demonstrate that the PyPose can be easily used to navigate a real quadruped robot with a few lines of code.

Camera localization in 3D LiDAR maps has gained increasing attention due to its promising ability to handle complex scenarios, surpassing the limitations of visual-only localization methods. However, existing methods mostly focus on addressing the cross-modal gaps, estimating camera poses frame by frame without considering the relationship between adjacent frames, which makes the pose tracking unstable. To alleviate this, we propose to couple the 2D-3D correspondences between adjacent frames using the 2D-2D feature matching, establishing the multi-view geometrical constraints for simultaneously estimating multiple camera poses. Specifically, we propose a new 2D-3D pose tracking framework, which consists: a front-end hybrid flow estimation network for consecutive frames and a back-end pose optimization module. We further design a cross-modal consistency-based loss to incorporate the multi-view constraints during the training and inference process. We evaluate our proposed framework on the KITTI and Argoverse datasets. Experimental results demonstrate its superior performance compared to existing frame-by-frame 2D-3D pose tracking methods and state-of-the-art vision-only pose tracking algorithms. More online pose tracking videos are available at \url{https://youtu.be/yfBRdg7gw5M}, Comment: This work has been submitted to the IEEE for possible publication

Galaxy clusters are expected to be dark matter (DM) reservoirs and storage rooms for the cosmic-ray protons (CRp) that accumulate along the cluster's formation history. Accordingly, they are excellent targets to search for signals of DM annihilation and decay at gamma-ray energies and are predicted to be sources of large-scale gamma-ray emission due to hadronic interactions in the intracluster medium. We estimate the sensitivity of the Cherenkov Telescope Array (CTA) to detect diffuse gamma-ray emission from the Perseus galaxy cluster. We perform a detailed spatial and spectral modelling of the expected signal for the DM and the CRp components. For each, we compute the expected CTA sensitivity. The observing strategy of Perseus is also discussed. In the absence of a diffuse signal (non-detection), CTA should constrain the CRp to thermal energy ratio within the radius $R_{500}$ down to about $X_{500}<3\times 10^{-3}$, for a spatial CRp distribution that follows the thermal gas and a CRp spectral index $\alpha_{\rm CRp}=2.3$. Under the optimistic assumption of a pure hadronic origin of the Perseus radio mini-halo and depending on the assumed magnetic field profile, CTA should measure $\alpha_{\rm CRp}$ down to about $\Delta\alpha_{\rm CRp}\simeq 0.1$ and the CRp spatial distribution with 10% precision. Regarding DM, CTA should improve the current ground-based gamma-ray DM limits from clusters observations on the velocity-averaged annihilation cross-section by a factor of up to $\sim 5$, depending on the modelling of DM halo substructure. In the case of decay of DM particles, CTA will explore a new region of the parameter space, reaching models with $\tau_{\chi}>10^{27}$s for DM masses above 1 TeV. These constraints will provide unprecedented sensitivity to the physics of both CRp acceleration and transport at cluster scale and to TeV DM particle models, especially in the decay scenario., Comment: 93 pages (including author list, appendix and references), 143 figures. Submitted to JCAP