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Awareness in robotics: An early perspective from the viewpoint of the EIC Pathfinder Challenge "Awareness Inside"

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arXiv 2024年

作者： Santina, Cosimo Della Corbato, Carlos Hernandez Sisman, Burak Leiva, Luis A. Arapakis, Ioannis Vakalellis, Michalis Vanderdonckt, Jean D’Haro, LuisFernando Manzi, Guido Becchio, Cristina Elamrani, Aïda Alirezaei, Mohsen Castellano, Ginevra Dimarogonas, Dimos V. Ghosh, Arabinda Haesaert, Sofie Soudjani, Sadegh Stroeve, Sybert Verschure, Paul Bacciu, Davide Deroy, Ophelia Bahrami, Bahador Gallicchio, Claudio Hauert, Sabine Sanz, Ricardo Lanillos, Pablo Iacca, Giovanni Sigg, Stephan Gasulla, Manel Steels, Luc Sierra, Carles Department of Cognitive Robotics Delft University of Technology Delft Netherlands Oberpfaffenhofen Germany Department of Computer Science University of Luxembourg Luxembourg 4 Telefónica I+D Spain AEGIS IT Research GmbH Germany Université catholique de Louvain Belgium Speech Technology and Machine Learning Group ETSI de Telecomunicación Universidad Politécnica de Madrid Madrid Spain Alien Venture Studio Alien Technology Transfer Rome Italy Hamburg Germany Institut Jean Nicod École Normale Supérieure Paris France Research Technology and Development Department Digital Industry Software Helmond Netherlands Department of Information Technology Uppsala University Uppsala Sweden Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Max Planck Institute for Software Systems Kaiserslautern Germany Department of Electrical Engineering Control Systems Group Eindhoven University of Technology Eindhoven Netherlands Amsterdam Netherlands Donders Centre for Neuroscience Radboud University Nijmegen Netherlands Computer Science Department University of Pisa Pisa Italy Faculty of Philosophy Philosophy of Science The Study of Religion Ludwig Maximilian University of Munich Munich Germany School of Engineering Mathematics and Technology University of Bristol Bristol United Kingdom Autonomous Systems Laboratory Universidad Politécnica de Madrid Spain Madrid Spain Department of Information Engineering and Computer Science University of Trento Trento Italy Department of Information and Communications Engineering Aalto University Espoo Finland Department of Electronic Engineering Universitat Politècnica de Catalunya Barcelona Spain Studio Stelluti Brussels Belgium Barcelona Spain

Consciousness has been historically a heavily debated topic in engineering, science, and philosophy. On the contrary, awareness had less success in raising the interest of scholars in the past. However, things are changing as more and more researchers are getting interested in answering questions concerning what awareness is and how it can be artificially generated. The landscape is rapidly evolving, with multiple voices and interpretations of the concept being conceived and techniques being developed. The goal of this paper is to summarize and discuss the ones among these voices that are connected with projects funded by the EIC Pathfinder Challenge called "Awareness Inside", a nonrecurring call for proposals within Horizon Europe that was designed specifically for fostering research on natural and synthetic awareness. In this perspective, we dedicate special attention to challenges and promises of applying synthetic awareness in robotics, as the development of mature techniques in this new field is expected to have a special impact on generating more capable and trustworthy embodied systems. © 2024, CC BY.

关键词： Robotics

Spatiotemporal Features of Traffic Help Reduce Automatic Accident Detection Time

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SSRN

SSRN 2023年

作者： Moriano, Pablo Berres, Andy Xu, Haowen Sanyal, Jibonananda Computer Science and Mathematics Division Oak Ridge National Laboratory Oak RidgeTN37830 United States Computational Sciences and Engineering Division Oak Ridge National Laboratory Oak RidgeTN37830 United States Hybrid Energy Systems Group National Renewable Energy Laboratory GoldenCO80401 United States

Quick and reliable automatic detection of traffic accidents is of paramount importance to save human lives in transportation systems. However, automatically detecting when accidents occur has proven challenging, and minimizing the time to detect accidents (TTDA) by using traditional features in machine learning (ML) classifiers has plateaued. We hypothesize that accidents affect traffic farther from the accident location than previously reported. Therefore, leveraging traffic signatures from neighboring sensors that are adjacent to accidents should help improve their detection. We confirm this hypothesis by using verified ground-truth accident data, traffic data from radar detection system sensors, and light and weather conditions and show that we can minimize the TTDA while maximizing classification performance by considering spatiotemporal features of traffic. Specifically, we compare the performance of different ML classifiers (i.e, logistic regression, random forest, and XGBoost) when controlling for different numbers of neighboring sensors and TTDA horizons. We use data from interstates 75 and 24 in the metropolitan area that surrounds Chattanooga, TN. Our results show that the XGBoost classifier produces the best results by detecting accidents as quickly as 1.0 minute after their occurrence with an area under the receiver operating characteristic curve of up to 83% and an average precision of up to 49%. We describe limitations, open challenges, and how the proposed framework can be used for quicker operational accident detection. © 2023, The Authors. All rights reserved.

关键词： Accidents

Intrinsic Motivation in Dynamical Control systems

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PRX Life 2024年第3期2卷 033009页

作者： Stas Tiomkin Ilya Nemenman Daniel Polani Naftali Tishby Computer Engineering Department Charles W. Davidson College of Engineering Department of Biology Department of Physics and Initiative in Theory and Modeling of Living Systems Adaptive Systems Research Group The Rachel and Selim Benin School of Computer Science and Engineering and Edmond and Lilly Safra Center for Brain Sciences (ELSC)

Biological systems often choose actions without an explicit reward signal, a phenomenon known as intrinsic motivation. The computational principles underlying this behavior remain poorly understood. In this study, we investigate an information-theoretic approach to intrinsic motivation, based on maximizing an agent's empowerment (the mutual information between its past actions and future states). We show that this approach generalizes previous attempts to formalize intrinsic motivation, and we provide a computationally efficient algorithm for computing the necessary quantities. We test our approach on several benchmark control problems, and we explain its success in guiding intrinsically motivated behaviors by relating our information-theoretic control function to fundamental properties of the dynamical system representing the combined agent-environment system. This opens the door for designing practical artificial, intrinsically motivated controllers and for linking animal behaviors to their dynamical properties.

关键词： engineering Information & communication theory Neuroscience, neural computation & artificial intelligence Dynamical systems Machine learning

Graph Pyramid Autoformer for Long- Term Traffic Forecasting

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Graph Pyramid Autoformer for Long- Term Traffic Forecasting

International Conference on Machine Learning and Applications (ICMLA)

作者： Weiheng Zhong Tanwi Mallick Jane Macfarlane Hadi Meidani Prasanna Balaprakash Department of Civil Environmental Engineering University of Illinois at Urbana-Champaign Champaign IL Mathematics and Computer Science Division Argonne National Laboratory Lemont IL Lawrence Berkeley National Laboratory Sustainable Energy Systems Group Berkeley CA Oak Ridge National Laboratory Computing and Computational Sciences Directorate Oak Ridge TN

Accurate traffic forecasting is vital to an intelligent transportation system. Although many deep learning models have achieved state-of-art performance for short-term traffic forecasting of up to 1 hour, long-term traffic forecasting that spans multiple hours remains a major challenge. To that end, we develop Graph Pyramid Autoformer (GPA), an attention-based spatial-temporal graph neural network that uses a novel pyramid autocorrelation attention mechanism. It enables learning from long temporal sequences on graphs and improves long-term traffic forecasting accuracy. We demonstrate the efficacy of the GPA using two benchmark traffic datasets: Los Angeles' METR-LA and the Bay Area's PEMS-BAY. Notably, our model has outperformed a range of existing state-of-the-art methods, delivering up to a 25 % improvement in the accuracy of long-term traffic forecasts. Our code is available at: https://***/WeiheneZlExplainable-Graph-Autoformer.

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Overcoming the Fear of the Dark: Occlusion-Aware Model-Predictive Planning for Automated Vehicles Using Risk Fields

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arXiv 2023年

作者： van der Ploeg, Chris Nyberg, Truls Sánchez, José Manuel Gaspar Silvas, Emilia van de Wouw, Nathan Netherlands Organisation for Applied Scientific Research Integrated Vehicle Safety Group Helmond5700 AT Netherlands Eindhoven University of Technology Dynamics and Control Group Mechanical Engineering Dept. P.O. Box 513 Eindhoven5600 MB Netherlands Eindhoven University of Technology Control Systems Technology Group Mechanical Engineering Dept. P.O. Box 513 Eindhoven5600 MB Netherlands KTH Royal Institute of Technology Division of Robotics Perception and Learning School of Electrical Engineering and Computer Science Stockholm100 44 Sweden Scania CV AB Södertälje151 87 Sweden

As vehicle automation advances, motion planning algorithms face escalating challenges in achieving safe and efficient navigation. Existing Advanced Driver Assistance systems (ADAS) primarily focus on basic tasks, leaving unexpected scenarios for human intervention, which can be error-prone. Motion planning approaches for higher levels of automation in the state-of-the-art are primarily oriented toward the use of risk- or anti-collision constraints, using over-approximates of the shapes and sizes of other road users to prevent collisions. These methods however suffer from conservative behavior and the risk of infeasibility in high-risk initial conditions. In contrast, our work introduces a novel multi-objective trajectory generation approach. We propose an innovative method for constructing risk fields that accommodates diverse entity shapes and sizes, which allows us to also account for the presence of potentially occluded objects. This methodology is integrated into an occlusion-aware trajectory generator, enabling dynamic and safe maneuvering through intricate environments while anticipating (potentially hidden) road users and traveling along the infrastructure toward a specific goal. Through theoretical underpinnings and simulations, we validate the effectiveness of our approach. This paper bridges crucial gaps in motion planning for automated vehicles, offering a pathway toward safer and more adaptable autonomous navigation in complex urban contexts. Copyright © 2023, The Authors. All rights reserved.

关键词： Motion planning

A Scalable group Authentication Scheme Based on Combinatorial Designs with Fault Tolerance for the Internet of Things

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SN computer Science 2020年第4期1卷 1-13页

作者： El Mouaatamid, Otmane Lahmer, Mohamed Belkasmi, Mostafa ICES Team Computer Science Department National School of Computer Science and Systems Analysis (ENSIAS) Mohammed V University in Rabat Avenue Mohamed Ben Abdellah Regragui Rabat Morocco Department of Computer Information and Communication Systems Engineering Research Group Higher School of Technology Moulay Ismail University B.P. 3103 Meknes Toulal 50000 Morocco

With the development of the Internet of Things, the scale of IoT system is becoming large. Due to the network congestion problems and the server capability, using unicast authentication will bring burden to the network link and server. In this paper, we propose a scalable group authentication scheme with fault tolerance based on combinatorial designs. Performance analysis of the proposed scheme is based on several metrics such as fault tolerance, scalability, energy consumption and storage overhead. Simulation results have shown that oval designs realize the best trade-off for all metrics. © 2020, Springer Nature Singapore Pte Ltd.

关键词： Combinatorial designs Fault tolerance group authentication Internet of Things Oval designs Scalability

Self-Healing Secure Blockchain Framework in Microgrids

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arXiv 2022年

作者： Rath, Suman Nguyen, Lam Duc Sahoo, Subham Popovski, Petar The Department of Computer Science and Engineering University of Nevada RenoNV89557 United States Software Systems Research Group CSIRO's Data61 Sydney2015 Australia The Department of Energy Aalborg University Aalborg9220 Denmark The Department of Electronic Systems Aalborg University Aalborg9220 Denmark

Blockchain has recently been depicted as a secure protocol for information exchange in cyber-physical microgrids. However, it is still found vulnerable to consensus manipulation attacks. These stealth attacks are often difficult to detect as they use kernel-level access to mask their actions. In this paper, we firstly build a trusted and secured peer-to-peer network mechanism for physical DC microgrids' validation of transactions over Distributed Ledger. Secondly, we leverage from a physics-informed approach for detecting malware-infected nodes and then recovering from stealth attacks using a self-healing recovery scheme augmented into the microgrid Blockchain network. This scheme allows compromised nodes to adapt to a reconstructed trustworthy signal in a multi-hop manner using corresponding measurements from the reliable nodes in the network. Additionally, recognizing the possible threat of denial-of-service attacks and random time delays (where information sharing via communication channels is blocked), we also integrate a model-free predictive controller with the proposed system that can locally reconstruct an expected version of the attacked/delayed signals. This supplements the capabilities of Blockchain, enabling it to detect and mitigate consensus manipulation attempts, and network latencies. © 2022, CC BY.

关键词： Blockchain

CEBRA Method: Decoding Brain Activity for Advanced Brain-computer Interface Technology 46

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CEBRA Method: Decoding Brain Activity for Advanced Brain-Com...

46th Annual International Conference of the IEEE engineering in Medicine and Biology Society, EMBC 2024

作者： Yang, Jingcheng Kulwa, Frank Liu, Xuanwei Lu, Yiqing Fu, Yufa Li, Guanglin Huai, Yaping Zhang, Xin Li, Yongcheng Shenzhen Dapeng New District Nanao People's Hospital Guangdong Shenzhen518000 China Shenzhen Longhua District Central Hospital Department of Rehabilitation Medicine Guangdong Shenzhen518000 China Kunming University of Science and Technology Faculty of Information Engineering and Automation Kunming650500 China Kunming University of Science and Technology Brain Cognition and Brain-Computer Intelligence Integration Group Kunming650500 China Cas Key Laboratory of Human-Machine Intelligence Synergy Systems Shenzhen518055 China University of Chinese Academy of Sciences Shenzhen College of Advanced Technology Shenzhen518055 China Shandong Zhongke Advanced Technology Co. Ltd. Jinan250014 China

ISBN: (纸本)9798350371499

The emerging neurorehabilitation technology, Brain-computer Interface (BCI), provides a novel prospect for stroke recovery. However, decoding brain activity during the movement present substantial challenges, and feature extraction is crutial to build a better decoder. In this study the CEBRA method were employed to extract features first based on electroencephalogram(EEG) data during Motor Execution(ME) and Motor lmagery (Ml) tasks for 20 participants (including 10 stroke patients). The results revealed that, in MI tasks, CEBRA-RF (Random Forests) achieved an average classification accuracy of 91.33%, with an average F1-score of 91.19%, and CEBRA-SVM (Support Vector Machine) achieved an average classification accuracy of 91.32%, with an average F1-score of 90.83%. Compared to other conventional feature extraction methods, CEBRA shows significantly higher accuracy (t-test, p © 2024 IEEE.

关键词： Patient rehabilitation

3DReact: Geometric deep learning for chemical reactions

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arXiv 2023年

作者： van Gerwen, Puck Briling, Ksenia R. Bunne, Charlotte Somnath, Vignesh Ram Laplaza, Ruben Krause, Andreas Corminboeuf, Clemence Laboratory for Computational Molecular Design Institute of Chemical Sciences and Engineering École Polytechnique Fédérale de Lausanne Lausanne1015 Switzerland École Polytechnique Fédérale de Lausanne Lausanne1015 Switzerland Learning & Adaptive Systems Group Department of Computer Science ETH Zurich Zurich8092 Switzerland

Geometric deep learning models, which incorporate the relevant molecular symmetries within the neural network architecture, have considerably improved the accuracy and data efficiency of predictions of molecular properties. Building on this success, we introduce 3DReact, a geometric deep learning model to predict reaction properties from three-dimensional structures of reactants and products. We demonstrate that the invariant version of the model is sufficient for existing reaction datasets. We illustrate its competitive performance on the prediction of activation barriers on the GDB7-22-TS, Cyclo-23-TS and Proparg-21-TS datasets in different atom-mapping regimes. We show that, compared to existing models for reaction property prediction, 3DReact offers a flexible framework that exploits atom-mapping information, if available, as well as geometries of reactants and products (in an invariant or equivariant fashion). Accordingly, it performs systematically well across different datasets, atom-mapping regimes, as well as both interpolation and extrapolation tasks. Copyright © 2023, The Authors. All rights reserved.

关键词： Prediction models