There is now a large body of techniques, many based on formal methods, for describing and realizing complex robotics tasks, including those involving a variety of rich goals and time-extended behavior. This paper explores the limits of what sorts of tasks are specifiable, examining how the precise grounding of specifications, that is, whether the specification is given in terms of the robot's states, its actions and observations, its knowledge, or some other information,is crucial to whether a given task can be specified. While prior work included some description of particular choices for this grounding, our contribution treats this aspect as a first-class citizen: we introduce notation to deal with a large class of problems, and examine how the grounding affects what tasks can be posed. The results demonstrate that certain classes of tasks are specifiable under different combinations of groundings.
Several space missions are proposed or planned for the coming two decades dedicated or including mid- to high-resolution spectropolarimetry on a wide UV band. This includes the European instrument Pollux for the NASA HWO flagship mission, the NASA SMEX candidate Polstar, and the French nanosatellite demonstrator CASSTOR. We are developing UV polarimeters for these missions thanks to a R&D program funded by CNES. For the mid- and near-UV, i.e. above 120 nm, birefringent material (MgF2) can be used to produce a polarimeter. This is the baseline for Polstar, CASSTOR, and the MUV and NUV channels of Pollux. Prototypes have been built and tested with excellent results, and further tests are ongoing to fully characterize them. For the FUV channel of Pollux however, it is not possible to use this technology and we have instead studied a design based on mirrors only. We will present the various missions and instruments, their technical challenges, as well as the R&D work performed on UV polarimeters and the proposed design solutions.
We present a novel approach for generating motion primitives for kinodynamic motion planning using diffusion models. The motions generated by our approach are adapted to each problem instance by utilizing problem-specific parameters, allowing for finding solutions faster and of better quality. The diffusion models used in our approach are trained on randomly cut solution trajectories. These trajectories are created by solving randomly generated problem instances with a kinodynamic motion planner. Experimental results show significant improvements up to 30 percent in both computation time and solution quality across varying robot dynamics such as second-order unicycle or car with trailer.
Reconstruction of high-definition maps is a crucial task in perceiving the autonomous driving environment, as its accuracy directly impacts the reliability of prediction and planning capabilities in downstream modules. Current vectorized map reconstruction methods based on the DETR framework encounter limitations due to the redundancy in the decoder structure, necessitating the stacking of six decoder layers to maintain performance, which significantly hampers computational efficiency. To tackle this issue, we introduce FastMap, an innovative framework designed to reduce decoder redundancy in existing approaches. FastMap optimizes the decoder architecture by employing a single-layer, two-stage transformer that achieves multilevel representation capabilities. Our framework eliminates the conventional practice of randomly initializing queries and instead incorporates a heatmap-guided query generation module during the decoding phase, which effectively maps image features into structured query vectors using learnable positional encoding. Additionally, we propose a geometry-constrained point-to-line loss mechanism for FastMap, which adeptly addresses the challenge of distinguishing highly homogeneous features that often arise in traditional point-to-point loss computations. Extensive experiments demonstrate that FastMap achieves state-of-the-art performance in both nuScenes and Argoverse2 datasets, with its decoder operating 3.2 faster than the baseline. Code and more demos are available at https://github.com/hht1996ok/FastMap.
Trajectory optimization in multi-vehicle scenarios faces challenges due to its non-linear, non-convex properties and sensitivity to initial values, making interactions between vehicles difficult to control. In this paper, inspired by topological planning, we propose a differentiable local homotopy invariant metric to model the interactions. By incorporating this topological metric as a constraint into multi-vehicle trajectory optimization, our framework is capable of generating multiple interactive trajectories from the same initial values, achieving controllable interactions as well as supporting user-designed interaction patterns. Extensive experiments demonstrate its superior optimality and efficiency over existing methods. We will release open-source code to advance relative research.
Despite various efforts, decarbonizing the heating sector remains a significant challenge. To tackle it by smart planning, the availability of highly resolved heating demand data is key. Several existing models provide heating demand only for specific applications. Typically, they either offer time series for a larger area or annual demand data on a building level, but not both simultaneously. Additionally, the diversity in heating demand across different buildings is often not considered. To address these limitations, this paper presents a novel method for generating temporally resolved heat demand time series at the building level using publicly available data. The approach integrates a thermal building model with stochastic occupancy simulations that account for variability in user behavior. As a result, the tool serves as a cost-effective resource for cross-sectoral energy system planning and policy development, particularly with a focus on the heating sector. The obtained data can be used to assess the impact of renovation and retrofitting strategies, or to analyze district heating expansion. To illustrate the potential applications of this approach, we conducted a case study in Puertollano (Spain), where we prepared a dataset of heating demand with hourly resolution for each of 9,298 residential buildings. This data was then used to compare two different pathways for the thermal renovation of these buildings. By relying on publicly available data, this method can be adapted and applied to various European regions, offering broad usability in energy system optimization and analysis of decarbonization strategies.
Self-modeling enables robots to build task-agnostic models of their morphology and kinematics based on data that can be automatically collected, with minimal human intervention and prior information, thereby enhancing machine intelligence. Recent research has highlighted the potential of data-driven technology in modeling the morphology and kinematics of robots. However, existing self-modeling methods suffer from either low modeling quality or excessive data acquisition costs. Beyond morphology and kinematics, texture is also a crucial component of robots, which is challenging to model and remains unexplored. In this work, a high-quality, texture-aware, and link-level method is proposed for robot self-modeling. We utilize three-dimensional (3D) Gaussians to represent the static morphology and texture of robots, and cluster the 3D Gaussians to construct neural ellipsoid bones, whose deformations are controlled by the transformation matrices generated by a kinematic neural network. The 3D Gaussians and kinematic neural network are trained using data pairs composed of joint angles, camera parameters and multi-view images without depth information. By feeding the kinematic neural network with joint angles, we can utilize the well-trained model to describe the corresponding morphology, kinematics and texture of robots at the link level, and render robot images from different perspectives with the aid of 3D Gaussian splatting. Furthermore, we demonstrate that the established model can be exploited to perform downstream tasks such as motion planning and inverse kinematics.
Large Action Models (LAMs) have revolutionized intelligent automation, but their application in healthcare faces challenges due to privacy concerns, latency, and dependency on internet access. This report introduces an ondevice, multi-agent healthcare assistant that overcomes these limitations. The system utilizes smaller, task-specific agents to optimize resources, ensure scalability and high performance. Our proposed system acts as a one-stop solution for health care needs with features like appointment booking, health monitoring, medication reminders, and daily health reporting. Powered by the Qwen Code Instruct 2.5 7B model, the Planner and Caller Agents achieve an average RougeL score of 85.5 for planning and 96.5 for calling for our tasks while being lightweight for on-device deployment. This innovative approach combines the benefits of ondevice systems with multi-agent architectures, paving the way for user-centric healthcare solutions.
Comets are the most pristine planetesimals left from the formation of the Solar System. They carry unique information on the materials and the physical processes which led to the presence of planets and moons. Many important questions about cometary physics, such as origin, constituents and mechanism of cometary activity, remain unanswered. The next perihelion of comet 1P/Halley, in 2061, is an excellent opportunity to revisit this object of outstanding scientific and cultural relevance. In 1986, during its latest approach to the Sun, several flyby targeted Halley's comet to observe its nucleus and shed light on its properties, origin, and evolution. However, due to its retrograde orbit and high ecliptic inclination, the quality of data was limited by the large relative velocity and short time spent by the spacecraft inside the coma of the comet. A rendezvous mission like ESA/Rosetta would overcome such limitations, but the trajectory design is extremely challenging due to the shortcomings of current propulsion technology. Given the considerable lead times of spacecraft development and the long duration of the interplanetary transfer required to reach the comet, it is imperative to start mission planning several decades in advance. This study presents a low-thrust rendezvous strategy to reach the comet before the phase of intense activity during the close approach to the Sun. The trajectory design combines a gravity-assist maneuver with electric propulsion arcs to maximize scientific payload mass while constraining transfer duration. A propulsive plane change maneuver would be prohibitive. To keep the propellant budget within reasonable limits, most of the plane change maneuver is achieved via either a Jupiter or a Saturn flyby. The interplanetary low-thrust gravity-assisted trajectory design strategy is described, followed by the presentation of multiple proof-of-concept solutions.
Dynamical systems can be analyzed via their Frobenius-Perron transfer operator and its estimation from data is an active field of research. Recently entropic transfer operators have been introduced to estimate the operator of deterministic systems. The approach is based on the regularizing properties of entropic optimal transport plans. In this article we generalize the method to stochastic and non-stationary systems and give a quantitative convergence analysis of the empirical operator as the available samples increase. We introduce a way to extend the operator's eigenfunctions to previously unseen samples, such that they can be efficiently included into a spectral embedding. The practicality and numerical scalability of the method are demonstrated on a real-world fluid dynamics experiment.
Modern assembly processes require flexibility and adaptability to handle increasing product variety and customization. Traditional assembly planning methods often prioritize finding an optimal assembly sequence, overlooking the requirements of contemporary manufacturing. This work uses Supervisory Control Theory to systematically generate all feasible assembly sequences while ensuring compliance with precedence and process constraints. By synthesizing a controllable, non-blocking, and minimally restrictive supervisor, the proposed method guarantees that only valid sequences are allowed, balancing flexibility and constraint enforcement. The obtained sequences can serve as a basis for further optimization or exception management, improving responsiveness to disruptions.
Green hydrogen has multiple use cases and is produced from renewable energy, such as solar or wind energy. It can be stored in large quantities, decoupling renewable energy generation from its use, and is therefore considered essential for achieving a climate-neutral economy. The intermittency of renewable energy generation and the stochastic nature of demand are, however, challenging factors for the dynamic planning of hydrogen storage and transportation. This holds particularly in the early-adoption phase when hydrogen distribution occurs through vehicle-based networks. We therefore address the Dynamic Inventory Routing Problem (DIRP) under stochastic supply and demand with direct deliveries for the vehicle-based distribution of hydrogen. To solve this problem, we propose a Constrained Reinforcement Learning (CRL) framework that integrates constraints into the learning process and incorporates parameterized post-decision state value predictions. Additionally, we introduce Lookahead-based CRL (LCRL), which improves decision-making over a multi-period horizon to enhance short-term planning while maintaining the value predictions. Our computational experiments demonstrate the efficacy of CRL and LCRL across diverse instances. Our learning methods provide near-optimal solutions on small scale instances that are solved via value iteration. Furthermore, both methods outperform typical deep learning approaches such as Proximal Policy Optimization, as well as classical inventory heuristics, such as (s,S)-policy-based and Power-of-Two-based heuristics. Furthermore, LCRL achieves a 10% improvement over CRL on average, albeit with higher computational requirements. Analyses of optimal replenishment policies reveal that accounting for stochastic supply and demand influences these policies, showing the importance of our addition to the DIRP.
Traffic simulation, complementing real-world data with a long-tail distribution, allows for effective evaluation and enhancement of the ability of autonomous vehicles to handle accident-prone scenarios. Simulating such safety-critical scenarios is nontrivial, however, from log data that are typically regular scenarios, especially in consideration of dynamic adversarial interactions between the future motions of autonomous vehicles and surrounding traffic participants. To address it, this paper proposes an innovative and efficient strategy, termed IntSim, that explicitly decouples the driving intentions of surrounding actors from their motion planning for realistic and efficient safety-critical simulation. We formulate the adversarial transfer of driving intention as an optimization problem, facilitating extensive exploration of diverse attack behaviors and efficient solution convergence. Simultaneously, intention-conditioned motion planning benefits from powerful deep models and large-scale real-world data, permitting the simulation of realistic motion behaviors for actors. Specially, through adapting driving intentions based on environments, IntSim facilitates the flexible realization of dynamic adversarial interactions with autonomous vehicles. Finally, extensive open-loop and closed-loop experiments on real-world datasets, including nuScenes and Waymo, demonstrate that the proposed IntSim achieves state-of-the-art performance in simulating realistic safety-critical scenarios and further improves planners in handling such scenarios.
Effective trajectory stitching for long-horizon planning is a significant challenge in robotic decision-making. While diffusion models have shown promise in planning, they are limited to solving tasks similar to those seen in their training data. We propose CompDiffuser, a novel generative approach that can solve new tasks by learning to compositionally stitch together shorter trajectory chunks from previously seen tasks. Our key insight is modeling the trajectory distribution by subdividing it into overlapping chunks and learning their conditional relationships through a single bidirectional diffusion model. This allows information to propagate between segments during generation, ensuring physically consistent connections. We conduct experiments on benchmark tasks of various difficulties, covering different environment sizes, agent state dimension, trajectory types, training data quality, and show that CompDiffuser significantly outperforms existing methods.
This paper introduces a traffic evacuation model for railway disruptions to improve resilience. The research focuses on the problem of failure of several nodes or lines on the railway network topology. We proposed a holistic approach that integrates lines of various operator companies as well as external geographical features of the railway system. The optimized evacuation model was mathematically derived based on matrix computation using nonlinear programming. The model also takes into account the capacity of the surrounding evacuation stations, as well as the travel cost. Moreover, our model can flexibly simulate disruptions at multiple stations or any number of stations and lines, enhancing its applicability. We collected the large-scale railway network of the Greater Tokyo area for experimentation and evaluation. We simulated evacuation plans for several major stations, including Tokyo, Shinjuku, and Shibuya. The results indicate that the evacuation passenger flow (EPF) and the average travel time (ATT) during emergencies were optimized, staying within both the capacity limits of the targeted neighboring stations and the disruption recovery time.
Vision-Language Models (VLMs) demonstrate remarkable potential in robotic manipulation, yet challenges persist in executing complex fine manipulation tasks with high speed and precision. While excelling at high-level planning, existing VLM methods struggle to guide robots through precise sequences of fine motor actions. To address this limitation, we introduce a progressive VLM planning algorithm that empowers robots to perform fast, precise, and error-correctable fine manipulation. Our method decomposes complex tasks into sub-actions and maintains three key data structures: task memory structure, 2D topology graphs, and 3D spatial networks, achieving high-precision spatial-semantic fusion. These three components collectively accumulate and store critical information throughout task execution, providing rich context for our task-oriented VLM interaction mechanism. This enables VLMs to dynamically adjust guidance based on real-time feedback, generating precise action plans and facilitating step-wise error correction. Experimental validation on complex assembly tasks demonstrates that our algorithm effectively guides robots to rapidly and precisely accomplish fine manipulation in challenging scenarios, significantly advancing robot intelligence for precision tasks.
Robotic search and rescue, exploration, and inspection require trajectory planning across a variety of domains. A popular approach to trajectory planning for these types of missions is ergodic search, which biases a trajectory to spend time in parts of the exploration domain that are believed to contain more information. Most prior work on ergodic search has been limited to searching simple surfaces, like a 2D Euclidean plane or a sphere, as they rely on projecting functions defined on the exploration domain onto analytically obtained Fourier basis functions. In this paper, we extend ergodic search to any surface that can be approximated by a triangle mesh. The basis functions are approximated through finite element methods on a triangle mesh of the domain. We formally prove that this approximation converges to the continuous case as the mesh approximation converges to the true domain. We demonstrate that on domains where analytical basis functions are available (plane, sphere), the proposed method obtains equivalent results, and while on other domains (torus, bunny, wind turbine), the approach is versatile enough to still search effectively. Lastly, we also compare with an existing ergodic search technique that can handle complex domains and show that our method results in a higher quality exploration.
In this work, we consider the problem of multi-agent informative path planning (IPP) for robots whose sensor visibility continuously changes as a consequence of a time-varying natural phenomenon. We leverage ergodic trajectory optimization (ETO), which generates paths such that the amount of time an agent spends in an area is proportional to the expected information in that area. We focus specifically on the problem of multi-agent drone search of a wildfire, where we use the time-varying environmental process of smoke diffusion to construct a sensor visibility model. This sensor visibility model is used to repeatedly calculate an expected information distribution (EID) to be used in the ETO algorithm. Our experiments show that our exploration method achieves improved information gathering over both baseline search methods and naive ergodic search formulations.
Trajectory forecasting has become a popular deep learning task due to its relevance for scenario simulation for autonomous driving. Specifically, trajectory forecasting predicts the trajectory of a short-horizon future for specific human drivers in a particular traffic scenario. Robust and accurate future predictions can enable autonomous driving planners to optimize for low-risk and predictable outcomes for human drivers around them. Although some work has been done to model driving style in planning and personalized autonomous polices, a gap exists in explicitly modeling human driving styles for trajectory forecasting of human behavior. Human driving style is most certainly a correlating factor to decision making, especially in edge-case scenarios where risk is nontrivial, as justified by the large amount of traffic psychology literature on risky driving. So far, the current real-world datasets for trajectory forecasting lack insight on the variety of represented driving styles. While the datasets may represent real-world distributions of driving styles, we posit that fringe driving style types may also be correlated with edge-case safety scenarios. In this work, we conduct analyses on existing real-world trajectory datasets for driving and dissect these works from the lens of driving styles, which is often intangible and non-standardized.
This work integrates language AI-based voice communication understanding with collision risk assessment. The proposed framework consists of two major parts, (a) Automatic Speech Recognition (ASR); (b) surface collision risk modeling. ASR module generates information tables by processing voice communication transcripts, which serve as references for producing potential taxi plans and calculating the surface movement collision risk. For ASR, we collect and annotate our own Named Entity Recognition (NER) dataset based on open-sourced video recordings and safety investigation reports. Additionally, we refer to FAA Order JO 7110.65W and FAA Order JO 7340.2N to get the list of heuristic rules and phase contractions of communication between the pilot and the Air Traffic Controller (ATCo) used in daily aviation operations. Then, we propose the novel ATC Rule-Enhanced NER method, which integrates the heuristic rules into the model training and inference stages, resulting into hybrid rule-based NER model. We show the effectiveness of this hybrid approach by comparing different setups with different token-level embedding models. For the risk modeling, we adopt the node-link airport layout graph from NASA FACET and model the aircraft taxi speed at each link as a log-normal distribution and derive the total taxi time distribution. Then, we propose a spatiotemporal formulation of the risk probability of two aircraft moving across potential collision nodes during ground movement. We show the effectiveness of our approach by simulating two case studies, (a) the Henada airport runway collision accident happened in January 2024; (b) the KATL taxiway collision happened in September 2024. We show that, by understanding the pilot-ATC communication transcripts and analyzing surface movement patterns, the proposed model improves airport safety by providing risk assessment in time.
We present a hierarchical safe auto-taxiing framework to enhance the automated ground operations of multiple unmanned aircraft systems (multi-UAS). The auto-taxiing problem becomes particularly challenging due to (i) unknown disturbances, such as crosswind affecting the aircraft dynamics, (ii) taxiway incursions due to unplanned obstacles, and (iii) spatiotemporal conflicts at the intersections between multiple entry points in the taxiway. To address these issues, we propose a hierarchical framework, i.e., SAFE-TAXI, combining centralized spatiotemporal planning with decentralized MPC-CBF-based control to safely navigate the aircraft through the taxiway while avoiding intersection conflicts and unplanned obstacles (e.g., other aircraft or ground vehicles). Our proposed framework decouples the auto-taxiing problem temporally into conflict resolution and motion planning, respectively. Conflict resolution is handled in a centralized manner by computing conflict-aware reference trajectories for each aircraft. In contrast, safety assurance from unplanned obstacles is handled by an MPC-CBF-based controller implemented in a decentralized manner. We demonstrate the effectiveness of our proposed framework through numerical simulations and experimentally validate it using Night Vapor, a small-scale fixed-wing test platform.
Adapting quickly to dynamic, uncertain environments-often called "open worlds"-remains a major challenge in robotics. Traditional Task and Motion Planning (TAMP) approaches struggle to cope with unforeseen changes, are data-inefficient when adapting, and do not leverage world models during learning. We address this issue with a hybrid planning and learning system that integrates two models: a low level neural network based model that learns stochastic transitions and drives exploration via an Intrinsic Curiosity Module (ICM), and a high level symbolic planning model that captures abstract transitions using operators, enabling the agent to plan in an "imaginary" space and generate reward machines. Our evaluation in a robotic manipulation domain with sequential novelty injections demonstrates that our approach converges faster and outperforms state-of-the-art hybrid methods.
Planning and control for high-dimensional robot manipulators in cluttered, dynamic environments require both computational efficiency and robust safety guarantees. Inspired by recent advances in learning configuration-space distance functions (CDFs) as robot body representations, we propose a unified framework for motion planning and control that formulates safety constraints as CDF barriers. A CDF barrier approximates the local free configuration space, substantially reducing the number of collision-checking operations during motion planning. However, learning a CDF barrier with a neural network and relying on online sensor observations introduce uncertainties that must be considered during control synthesis. To address this, we develop a distributionally robust CDF barrier formulation for control that explicitly accounts for modeling errors and sensor noise without assuming a known underlying distribution. Simulations and hardware experiments on a 6-DoF xArm manipulator show that our neural CDF barrier formulation enables efficient planning and robust real-time safe control in cluttered and dynamic environments, relying only on onboard point-cloud observations.
The evolution of automotive technologies towards more integrated and sophisticated systems requires a shift from traditional distributed architectures to centralized vehicle architectures. This work presents a novel framework that addresses the increasing complexity of Software Defined Vehicles (SDV) through a centralized approach that optimizes software and hardware integration. Our approach introduces a scalable, modular, and secure automotive deployment framework that leverages a hardware abstraction layer and dynamic software deployment capabilities to meet the growing demands of the industry. The framework supports centralized computing of vehicle functions, making software development more dynamic and easier to update and upgrade. We demonstrate the capabilities of our framework by implementing it in a simulated environment where it effectively handles several automotive operations such as lane detection, motion planning, and vehicle control. Our results highlight the framework's potential to facilitate the development and maintenance of future vehicles, emphasizing its adaptability to different hardware configurations and its readiness for real-world applications. This work lays the foundation for further exploration of robust, scalable, and secure SDV systems, setting a new standard for future automotive architectures.
This paper develops a granular regime-switching framework to model mortality deviations from seasonal baseline trends driven by temperature and epidemic shocks. The framework features three states: (1) a baseline state that captures observed seasonal mortality patterns, (2) an environmental shock state for heat waves, and (3) a respiratory shock state that addresses mortality deviations caused by strong outbreaks of respiratory diseases due to influenza and COVID-19. Transition probabilities between states are modeled using covariate-dependent multinomial logit functions. These functions incorporate, among others, lagged temperature and influenza incidence rates as predictors, allowing dynamic adjustments to evolving shocks. Calibrated on weekly mortality data across 21 French regions and six age groups, the regime-switching framework accounts for spatial and demographic heterogeneity. Under various projection scenarios for temperature and influenza, we quantify uncertainty in mortality forecasts through prediction intervals constructed using an extensive bootstrap approach. These projections can guide healthcare providers and hospitals in managing risks and planning resources for potential future shocks.
Epidemics exhibit interconnected processes that operate at multiple time and organizational scales, a hallmark of complex adaptive systems. Modern epidemiological modeling frameworks incorporate feedback between individual-level behavioral choices and centralized interventions. Nonetheless, the realistic operational course for disease detection, planning, and response is often overlooked. Disease detection is a dynamic challenge, shaped by the interplay between surveillance efforts and transmission characteristics. It serves as a tipping point that triggers emergency declarations, information dissemination, adaptive behavioral responses, and the deployment of public health interventions. Evaluating the impact of disease surveillance systems as triggers for adaptive behavior and public health interventions is key to designing effective control policies. We examine the multiple behavioral and epidemiological dynamics generated by the feedback between disease surveillance and the intertwined dynamics of information and disease propagation. Specifically, we study the intertwined dynamics between: $(i)$ disease surveillance triggering health emergency declarations, $(ii)$ risk information dissemination producing decentralized behavioral responses, and $(iii)$ centralized interventions. Our results show that robust surveillance systems that quickly detect a disease outbreak can trigger an early response from the population, leading to large epidemic sizes. The key result is that the response scenarios that minimize the final epidemic size are determined by the trade-off between the risk information dissemination and disease transmission, with the triggering effect of surveillance mediating this trade-off. Finally, our results confirm that behavioral adaptation can create a hysteresis-like effect on the final epidemic size.
In this paper, we present SeGMan, a hybrid motion planning framework that integrates sampling-based and optimization-based techniques with a guided forward search to address complex, constrained sequential manipulation challenges, such as pick-and-place puzzles. SeGMan incorporates an adaptive subgoal selection method that adjusts the granularity of subgoals, enhancing overall efficiency. Furthermore, proposed generalizable heuristics guide the forward search in a more targeted manner. Extensive evaluations in maze-like tasks populated with numerous objects and obstacles demonstrate that SeGMan is capable of generating not only consistent and computationally efficient manipulation plans but also outperform state-of-the-art approaches.
Promoting active mobility like cycling relies on the availability of well-connected, high-quality bicycle networks. However, expanding these networks over an extended planning horizon presents one of the most complex challenges in transport science. This complexity arises from the intricate interactions between infrastructure availability and usage, such as network spillover effects and mode choice substitutions. In this paper, we approach the problem from two perspectives: direct optimization methods, which generate near-optimal solutions using operations research techniques, and conceptual heuristics, which offer intuitive and scalable algorithms grounded in network science. Specifically, we compare direct welfare optimization with an inverse network percolation approach to planning cycle superhighway extensions in Copenhagen. Interestingly, while the more complex optimization models yield better overall welfare results, the improvements over simpler methods are small. More importantly, we demonstrate that the increased complexity of planning approaches generally makes them more vulnerable to input uncertainty, reflecting the bias-variance tradeoff. This issue is particularly relevant in the context of long-term planning, where conditions change during the implementation of the planned infrastructure expansions. Therefore, while planning bicycle infrastructure is important and renders exceptionally high benefit-cost ratios, considerations of robustness and ease of implementation may justify the use of more straightforward network-based methods.
Datasets for object detection often do not account for enough variety of glasses, due to their transparent and reflective properties. Specifically, open-vocabulary object detectors, widely used in embodied robotic agents, fail to distinguish subclasses of glasses. This scientific gap poses an issue to robotic applications that suffer from accumulating errors between detection, planning, and action execution. The paper introduces a novel method for the acquisition of real-world data from RGB-D sensors that minimizes human effort. We propose an auto-labeling pipeline that generates labels for all the acquired frames based on the depth measurements. We provide a novel real-world glass object dataset that was collected on the Neuro-Inspired COLlaborator (NICOL), a humanoid robot platform. The data set consists of 7850 images recorded from five different cameras. We show that our trained baseline model outperforms state-of-the-art open-vocabulary approaches. In addition, we deploy our baseline model in an embodied agent approach to the NICOL platform, on which it achieves a success rate of 81% in a human-robot bartending scenario.
Magnetic-field simultaneous localization and mapping (SLAM) using consumer-grade inertial and magnetometer sensors offers a scalable, cost-effective solution for indoor localization. However, the rapid error accumulation in the inertial navigation process limits the feasible exploratory phases of these systems. Advances in magnetometer array processing have demonstrated that odometry information, i.e., displacement and rotation information, can be extracted from local magnetic field variations and used to create magnetic-field odometry-aided inertial navigation systems. The error growth rate of these systems is significantly lower than that of standalone inertial navigation systems. This study seeks an answer to whether a magnetic-field SLAM system fed with measurements from a magnetometer array can indirectly extract odometry information -- without requiring algorithmic modifications -- and thus sustain longer exploratory phases. The theoretical analysis and simulation results show that such a system can extract odometry information and indirectly create a magnetic field odometry-aided inertial navigation system during the exploration phases. However, practical challenges related to map resolution and computational complexity remain significant.