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Rapid autonomous traversal of unstructured terrain is essential for scenarios such as disaster response, search and rescue, or planetary exploration. As a vehicle navigates at the limit of its capabilities over extreme terrain, its dynamics can change suddenly and dramatically. For example, high-speed and varying terrain can affect parameters such as traction, tire slip, and rolling resistance. To achieve effective planning in such environments, it is crucial to have a dynamics model that can accurately anticipate these conditions. In this work, we present a hybrid model that predicts the changing dynamics induced by the terrain as a function of visual inputs. We leverage a pre-trained visual foundation model (VFM) DINOv2, which provides rich features that encode fine-grained semantic information. To use this dynamics model for planning, we propose an end-to-end training architecture for a projection distance independent feature encoder that compresses the information from the VFM, enabling the creation of a lightweight map of the environment at runtime. We validate our architecture on an extensive dataset (hundreds of kilometers of aggressive off-road driving) collected across multiple locations as part of the DARPA Robotic Autonomy in Complex Environments with Resiliency (RACER) program. https://www.youtube.com/watch?v=dycTXxEosMk, Comment: Jason Gibson and Anoushka Alavilli contributed equally

Machine-learned interatomic potentials (MLIPs) are becoming an essential tool in materials modeling. However, optimizing the generation of training data used to parameterize the MLIPs remains a significant challenge. This is because MLIPs can fail when encountering local enviroments too different from those present in the training data. The difficulty of determining \textit{a priori} the environments that will be encountered during molecular dynamics (MD) simulation necessitates diverse, high-quality training data. This study investigates how training data diversity affects the performance of MLIPs using the Ultra-Fast Force Field (UF$^3$) to model amorphous silicon nitride. We employ expert and autonomously generated data to create the training data and fit four force-field variants to subsets of the data. Our findings reveal a critical balance in training data diversity: insufficient diversity hinders generalization, while excessive diversity can exceed the MLIP's learning capacity, reducing simulation accuracy. Specifically, we found that the UF$^3$ variant trained on a subset of the training data, in which nitrogen-rich structures were removed, offered vastly better prediction and simulation accuracy than any other variant. By comparing these UF$^3$ variants, we highlight the nuanced requirements for creating accurate MLIPs, emphasizing the importance of application-specific training data to achieve optimal performance in modeling complex material behaviors., Comment: 6 pages, 4 figures

This paper introduces a new C++/CUDA library for GPU-accelerated stochastic optimization called MPPI-Generic. It provides implementations of Model Predictive Path Integral control, Tube-Model Predictive Path Integral Control, and Robust Model Predictive Path Integral Control, and allows for these algorithms to be used across many pre-existing dynamics models and cost functions. Furthermore, researchers can create their own dynamics models or cost functions following our API definitions without needing to change the actual Model Predictive Path Integral Control code. Finally, we compare computational performance to other popular implementations of Model Predictive Path Integral Control over a variety of GPUs to show the real-time capabilities our library can allow for. Library code can be found at: https://acdslab.github.io/mppi-generic-website/ .

Sampling-based model-predictive controllers have become a powerful optimization tool for planning and control problems in various challenging environments. In this paper, we show how the default choice of uncorrelated Gaussian distributions can be improved upon with the use of a colored noise distribution. Our choice of distribution allows for the emphasis on low frequency control signals, which can result in smoother and more exploratory samples. We use this frequency-based sampling distribution with Model Predictive Path Integral (MPPI) in both hardware and simulation experiments to show better or equal performance on systems with various speeds of input response., Comment: Published to RA-L

Integrating deep learning with the search for new electron-phonon superconductors represents a burgeoning field of research, where the primary challenge lies in the computational intensity of calculating the electron-phonon spectral function, $\alpha^2F(\omega)$, the essential ingredient of Midgal-Eliashberg theory of superconductivity. To overcome this challenge, we adopt a two-step approach. First, we compute $\alpha^2F(\omega)$ for 818 dynamically stable materials. We then train a deep-learning model to predict $\alpha^2F(\omega)$, using an unconventional training strategy to temper the model's overfitting, enhancing predictions. Specifically, we train a Bootstrapped Ensemble of Tempered Equivariant graph neural NETworks (BETE-NET), obtaining an MAE of 0.21, 45 K, and 43 K for the Eliashberg moments derived from $\alpha^2F(\omega)$: $\lambda$, $\omega_{\log}$, and $\omega_{2}$, respectively, yielding an MAE of 2.5 K for the critical temperature, $T_c$. Further, we incorporate domain knowledge of the site-projected phonon density of states to impose inductive bias into the model's node attributes and enhance predictions. This methodological innovation decreases the MAE to 0.18, 29 K, and 28 K, respectively, yielding an MAE of 2.1 K for $T_c$. We illustrate the practical application of our model in high-throughput screening for high-$T_c$ materials. The model demonstrates an average precision nearly five times higher than random screening, highlighting the potential of ML in accelerating superconductor discovery. BETE-NET accelerates the search for high-$T_c$ superconductors while setting a precedent for applying ML in materials discovery, particularly when data is limited., Comment: 12 pages, 5 figures, 1 table

Modeling dynamics is often the first step to making a vehicle autonomous. While on-road autonomous vehicles have been extensively studied, off-road vehicles pose many challenging modeling problems. An off-road vehicle encounters highly complex and difficult-to-model terrain/vehicle interactions, as well as having complex vehicle dynamics of its own. These complexities can create challenges for effective high-speed control and planning. In this paper, we introduce a framework for multistep dynamics prediction that explicitly handles the accumulation of modeling error and remains scalable for sampling-based controllers. Our method uses a specially-initialized Long Short-Term Memory (LSTM) over a limited time horizon as the learned component in a hybrid model to predict the dynamics of a 4-person seating all-terrain vehicle (Polaris S4 1000 RZR) in two distinct environments. By only having the LSTM predict over a fixed time horizon, we negate the need for long term stability that is often a challenge when training recurrent neural networks. Our framework is flexible as it only requires odometry information for labels. Through extensive experimentation, we show that our method is able to predict millions of possible trajectories in real-time, with a time horizon of five seconds in challenging off road driving scenarios.

Computational materials discovery has continually grown in utility over the past decade due to advances in computing power and crystal structure prediction algorithms (CSPA). However, the computational cost of the \textit{ab initio} calculations required by CSPA limits its utility to small unit cells, reducing the compositional and structural space the algorithms can explore. Past studies have bypassed many unneeded \textit{ab initio} calculations by utilizing machine learning methods to predict formation energy and determine the stability of a material. Specifically, graph neural networks display high fidelity in predicting formation energy. Traditionally graph neural networks are trained on large data sets of relaxed structures. Unfortunately, the geometries of unrelaxed candidate structures produced by CSPA often deviate from the relaxed state, which leads to poor predictions hindering the model's ability to filter energetically unfavorable prior to \textit{ab initio} evaluation. This work shows that the prediction error on relaxed structures reduces as training progresses, while the prediction error on unrelaxed structures increases, suggesting an inverse correlation between relaxed and unrelaxed structure prediction accuracy. To remedy this behavior, we propose a simple, physically motivated, computationally cheap perturbation technique that augments training data to improve predictions on unrelaxed structures dramatically. On our test set consisting of 623 Nb-Sr-H hydride structures, we found that training a crystal graph convolutional neural networks, utilizing our augmentation method, reduced the MAE of formation energy prediction by 66\% compared to training with only relaxed structures. We then show how this error reduction can accelerates CSPA by improving the model's ability to filter out energetically unfavorable structures accurately., Comment: 8 pages, 6 figures

In this paper, we provide a generalized framework for Variational Inference-Stochastic Optimal Control by using thenon-extensive Tsallis divergence. By incorporating the deformed exponential function into the optimality likelihood function, a novel Tsallis Variational Inference-Model Predictive Control algorithm is derived, which includes prior works such as Variational Inference-Model Predictive Control, Model Predictive PathIntegral Control, Cross Entropy Method, and Stein VariationalInference Model Predictive Control as special cases. The proposed algorithm allows for effective control of the cost/reward transform and is characterized by superior performance in terms of mean and variance reduction of the associated cost. The aforementioned features are supported by a theoretical and numerical analysis on the level of risk sensitivity of the proposed algorithm as well as simulation experiments on 5 different robotic systems with 3 different policy parameterizations.

In this paper we propose a novel decision making architecture for Robust Model Predictive Path Integral control (RMPPI) and investigate its performance guarantees and applicability to off-road navigation. Key building blocks of the proposed architecture are an augmented state space representation of the system consisting of nominal and actual dynamics, a placeholder for different types of tracking controllers, a safety logic for nominal state propagation, and an importance sampling scheme that takes into account the capabilities of the underlying tracking control. Using these ingredients, we derive a bound on the free energy growth of the dynamical system which is a function of task constraint satisfaction level, the performance of the underlying tracking controller, and the sampling error of the stochastic optimization used within RMPPI. To validate the bound on free energy growth, we perform experiments in simulation using two types of tracking controllers, namely the iterative Linear Quadratic Gaussian and Contraction-Metric based control. We further demonstrate the applicability of RMPPI in real hardware using the GT AutoRally vehicle. Our experiments demonstrate that RMPPI outperforms MPPI and Tube-MPPI by alleviating issues of the aforementioned model predictive controllers related to either lack of robustness or excessive conservatism. RMPPI provides the best of the two worlds in terms of agility and robustness to disturbances., Comment: To be published in Robotics and Automation Letters

In this work, we present a method for obtaining an implicit objective function for vision-based navigation. The proposed methodology relies on Imitation Learning, Model Predictive Control (MPC), and an interpretation technique used in Deep Neural Networks. We use Imitation Learning as a means to do Inverse Reinforcement Learning in order to create an approximate cost function generator for a visual navigation challenge. The resulting cost function, the costmap, is used in conjunction with MPC for real-time control and outperforms other state-of-the-art costmap generators in novel environments. The proposed process allows for simple training and robustness to out-of-sample data. We apply our method to the task of vision-based autonomous driving in multiple real and simulated environments and show its generalizability.

Recently, vision-based control has gained traction by leveraging the power of machine learning. In this work, we couple a model predictive control (MPC) framework to a visual pipeline. We introduce deep optical flow (DOF) dynamics, which is a combination of optical flow and robot dynamics. Using the DOF dynamics, MPC explicitly incorporates the predicted movement of relevant pixels into the planned trajectory of a robot. Our implementation of DOF is memory-efficient, data-efficient, and computationally cheap so that it can be computed in real-time for use in an MPC framework. The suggested Pixel Model Predictive Control (PixelMPC) algorithm controls the robot to accomplish a high-speed racing task while maintaining visibility of the important features (gates). This improves the reliability of vision-based estimators for localization and can eventually lead to safe autonomous flight. The proposed algorithm is tested in a photorealistic simulation with a high-speed drone racing task.

Let $k$ and $i_1,\ldots,i_n$ be natural numbers. Place $k$ balls into a multidimensional box of $i_1\times\cdots \times i_n$ cells, no more than one ball to each cell, such that the projections to each of the coordinate axes have cardinalities $i_1,\ldots,i_n$, respectively. We generalize earlier work of Wang, Lee, and Tan to find a formula for the alternating sum of the number of these fully-projected subsets., Comment: 4 pages

A positive integer n is called r-free if n is not divisible by the r-th power of a prime. Generalizing earlier work of Orr, we provide an upper bound of Bombieri-Vinogradov type for the r-free numbers in arithmetic progressions., Comment: 5 pages

Given collections A and B of residue classes modulo m and n, respectively, we investigate conditions on A and B that ensure that, for at least some a in A and b in B, the linear system x = a mod m, x = b mod n has an integer solution, and we quantify the number of such admissible pairs (a,b). The special case where A and B consist of intervals of residue classes has application to the Lonely Runner Conjecture., Comment: 9 pages