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The recent breakthroughs in the research on Large Language Models (LLMs) have triggered a transformation across several research domains. Notably, the integration of LLMs has greatly enhanced performance in robot Task And Motion Planning (TAMP). However, previous approaches often neglect the consideration of dynamic environments, i.e., the presence of dynamic objects such as humans. In this paper, we propose a novel approach to address this gap by incorporating human awareness into LLM-based robot task planning. To obtain an effective representation of the dynamic environment, our approach integrates humans' information into a hierarchical scene graph. To ensure the plan's executability, we leverage LLMs to ground the environmental topology and actionable knowledge into formal planning language. Most importantly, we use LLMs to predict future human activities and plan tasks for the robot considering the predictions. Our contribution facilitates the development of integrating human awareness into LLM-driven robot task planning, and paves the way for proactive robot decision-making in dynamic environments.

Recent advancements in Large Language Models (LLMs) have sparked a revolution across many research fields. In robotics, the integration of common-sense knowledge from LLMs into task and motion planning has drastically advanced the field by unlocking unprecedented levels of context awareness. Despite their vast collection of knowledge, large language models may generate infeasible plans due to hallucinations or missing domain information. To address these challenges and improve plan feasibility and computational efficiency, we introduce DELTA, a novel LLM-informed task planning approach. By using scene graphs as environment representations within LLMs, DELTA achieves rapid generation of precise planning problem descriptions. To enhance planning performance, DELTA decomposes long-term task goals with LLMs into an autoregressive sequence of sub-goals, enabling automated task planners to efficiently solve complex problems. In our extensive evaluation, we show that DELTA enables an efficient and fully automatic task planning pipeline, achieving higher planning success rates and significantly shorter planning times compared to the state of the art.

Challenges drive the state-of-the-art of automated medical image analysis. The quantity of public training data that they provide can limit the performance of their solutions. Public access to the training methodology for these solutions remains absent. This study implements the Type Three (T3) challenge format, which allows for training solutions on private data and guarantees reusable training methodologies. With T3, challenge organizers train a codebase provided by the participants on sequestered training data. T3 was implemented in the STOIC2021 challenge, with the goal of predicting from a computed tomography (CT) scan whether subjects had a severe COVID-19 infection, defined as intubation or death within one month. STOIC2021 consisted of a Qualification phase, where participants developed challenge solutions using 2000 publicly available CT scans, and a Final phase, where participants submitted their training methodologies with which solutions were trained on CT scans of 9724 subjects. The organizers successfully trained six of the eight Final phase submissions. The submitted codebases for training and running inference were released publicly. The winning solution obtained an area under the receiver operating characteristic curve for discerning between severe and non-severe COVID-19 of 0.815. The Final phase solutions of all finalists improved upon their Qualification phase solutions.HSUXJM-TNZF9CHSUXJM-TNZF9C

The paper speculates about how ChatGPT-like systems can support the field of automated service composition and identifies new research areas to explore in order to take advantage of such tools in the field of service-oriented composition.

The amalgamation of Internet of Things and the smart grid enables the energy optimal scheduling of appliances based on user needs and dynamic energy prices. Additionally, progress in local storage technology calls for exploiting additional sources of flexibility. In this paper, we propose a scheduling approach for building operation management, considering factors such as energy storage, local energy generation, and dynamic energy prices. In addition, we propose a new optimization strategy to discover the optimal scheduling of devices. Our approach utilizes parallel uniform cost-search to explore the complex search space and to find the optimal schedule within a user-acceptable amount of time. The evaluation utilizes real-world data for the devices, and the price signals, while the architecture is designed following a micro-service approach, enabling modularity and loose-coupling. The evaluation shows that including local energy storage as part of the optimization problem further reduces overall costs by up to 22.64\% when compared to schedules without energy storage. Parallel uniform cost-search decreases the time to find the optimal schedule by a factor of 4.7 with respect to the traditional uniform cost-search algorithm., Comment: 14 pages, 7 figures, 6 tables

Air cooling is the traditional solution to chill servers in data centers. However, the continuous increase in global data center energy consumption combined with the increase of the racks' power dissipation calls for the use of more efficient alternatives. Immersion cooling is one such alternative. In this paper, we quantitatively examine and compare air cooling and immersion cooling solutions. The examined characteristics include power usage efficiency (PUE), computing and power density, cost, and maintenance overheads. A direct comparison shows a reduction of about 50% in energy consumption and a reduction of about two-thirds of the occupied space, by using immersion cooling. In addition, the higher heat capacity of used liquids in immersion cooling compared to air allows for much higher rack power densities. Moreover, immersion cooling requires less capital and operational expenditures. However, challenging maintenance procedures together with the increased number of IT failures are the main downsides. By selecting immersion cooling, cloud providers must trade-off the decrease in energy and cost and the increase in power density with its higher maintenance and reliability concerns. Finally, we argue that retrofitting an air-cooled data center with immersion cooling will result in high costs and is generally not recommended.

Actual real-world domains are characterised by uncertain situations in which acting and use of resources require embracing risk. Performing actions in such domains always entails costs of consuming some resource, such as time, money, or energy, where the knowledge about these costs can range from totally known to totally unknown and even unknowable probabilities of costs. Think of robotic domains, where actions and their costs are non-deterministic due to uncertain factors like obstacles. Choosing which action to perform considering its cost on the available resource requires taking a stance on risk. Thus, these domains call for not only planning under uncertainty but also planning while embracing risk. Taking Hierarchical Task Network (HTN) planning as a widely used planning technique in real-world applications, one can observe that existing approaches do not account for risk. That is, computing most probable or optimal plans using actions with single-valued costs is only enough to express risk neutrality. In this work, we postulate that HTN planning can become risk aware by considering expected utility theory, a representative concept of decision theory that enables choosing actions considering a probability distribution of their costs and a given risk attitude expressed using a utility function. In particular, we introduce a general framework for HTN planning that allows modelling risk and uncertainty using a probability distribution of action costs upon which we define risk-aware HTN planning as an approach that accounts for the different risk attitudes and allows computing plans that go beyond risk neutrality. In fact, we layout that computing risk-aware plans requires finding plans with the highest expected utility. Finally, we argue that it is possible for HTN planning agents to solve specialised risk-aware HTN planning problems by adapting some existing HTN planning approaches., Comment: 62 pages, 9 figures