Aerial Visual Object Search (AVOS) tasks in urban environments require Unmanned Aerial Vehicles (UAVs) to autonomously search for and identify target objects using visual and textual cues without external guidance. Existing approaches struggle in complex urban environments due to redundant semantic processing, similar object distinction, and the exploration-exploitation dilemma. To bridge this gap and support the AVOS task, we introduce CityAVOS, the first benchmark dataset for autonomous search of common urban objects. This dataset comprises 2,420 tasks across six object categories with varying difficulty levels, enabling comprehensive evaluation of UAV agents' search capabilities. To solve the AVOS tasks, we also propose PRPSearcher (Perception-Reasoning-Planning Searcher), a novel agentic method powered by multi-modal large language models (MLLMs) that mimics human three-tier cognition. Specifically, PRPSearcher constructs three specialized maps: an object-centric dynamic semantic map enhancing spatial perception, a 3D cognitive map based on semantic attraction values for target reasoning, and a 3D uncertainty map for balanced exploration-exploitation search. Also, our approach incorporates a denoising mechanism to mitigate interference from similar objects and utilizes an Inspiration Promote Thought (IPT) prompting mechanism for adaptive action planning. Experimental results on CityAVOS demonstrate that PRPSearcher surpasses existing baselines in both success rate and search efficiency (on average: +37.69% SR, +28.96% SPL, -30.69% MSS, and -46.40% NE). While promising, the performance gap compared to humans highlights the need for better semantic reasoning and spatial exploration capabilities in AVOS tasks. This work establishes a foundation for future advances in embodied target search. Dataset and source code are available at https://anonymous.4open.science/r/CityAVOS-3DF8.
In observational causal inference, it is common to encounter multiple adjustment sets that appear equally plausible. It is often untestable which of these adjustment sets are valid to adjust for (i.e., satisfies ignorability). This discrepancy can pose practical challenges as it is typically unclear how to reconcile multiple, possibly conflicting estimates of the average treatment effect (ATE). A naive approach is to report the whole range (convex hull of the union) of the resulting confidence intervals. However, the width of this interval might not shrink to zero in large samples and can be unnecessarily wide in real applications. To address this issue, we propose a summary procedure that generates a single estimate, one confidence interval, and identifies a set of units for which the causal effect estimate remains valid, provided at least one adjustment set is valid. The width of our proposed confidence interval shrinks to zero with sample size at $n^{-1/2}$ rate, unlike the original range which is of constant order. Thus, our assumption-robust approach enables reliable causal inference on the ATE even in scenarios where most of the adjustment sets are invalid. Admittedly, this robustness comes at a cost: our inferential guarantees apply to a target population close to, but different from, the one originally intended. We use synthetic and real-data examples to demonstrate that our proposed procedure provides substantially tighter confidence intervals for the ATE as compared to the whole range. In particular, for a real-world dataset on 401(k) retirement plans our method produces a confidence interval 50\% shorter than the whole range of confidence intervals based on multiple adjustment sets.
To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the vehicle maneuver's performance. While most path planning approaches include finding a collision-free route, optimal trajectory planning involves solving the best transition from initial to final states, minimizing the action over all paths permitted by a kinematic model. Here we propose a novel method based on sequential convex optimization, which permits flexible and efficient optimal trajectory generation. The objective is to achieve the fastest time, shortest distance, and fewest number of path segments to satisfy motion requirements, while avoiding sensor blind-spots. In our approach, vehicle kinematics are represented by a discretized Dubins model. To avoid collisions, each waypoint is constrained by linear inequalities representing closest distance of obstacles to a polygon specifying the vehicle's extent. To promote smooth and valid trajectories, the solved kinematic state and control variables are constrained and regularized by penalty terms in the model's cost function, which enforces physical restrictions including limits for steering angle, acceleration and speed. In this paper, we analyze trajectories obtained for several parking scenarios. Results demonstrate efficient and collision-free motion generated by the proposed technique.
Analyzing how the publication records of scientists and research groups have evolved over the years is crucial for assessing their expertise since it can support the management of academic environments by assisting with career planning and evaluation. We introduce VizCV, a novel web-based end-to-end visual analytics framework that enables the interactive exploration of researchers' scientific trajectories. It incorporates AI-assisted analysis and supports automated reporting of career evolution. Our system aims to model career progression through three key dimensions: a) research topic evolution to detect and visualize shifts in scholarly focus over time, b) publication record and the corresponding impact, c) collaboration dynamics depicting the growth and transformation of a researcher's co-authorship network. AI-driven insights provide automated explanations of career transitions, detecting significant shifts in research direction, impact surges, or collaboration expansions. The system also supports comparative analysis between researchers, allowing users to compare topic trajectories and impact growth. Our interactive, multi-tab and multiview system allows for the exploratory analysis of career milestones under different perspectives, such as the most impactful articles, emerging research themes, or obtaining a detailed analysis of the contribution of the researcher in a subfield. The key contributions include AI/ML techniques for: a) topic analysis, b) dimensionality reduction for visualizing patterns and trends, c) the interactive creation of textual descriptions of facets of data through configurable prompt generation and large language models, that include key indicators, to help understanding the career development of individuals or groups.
Lattice radiotherapy (LATTICE) is a form of spatially fractionated radiation therapy (SFRT) designed to deliver high doses to tumor regions while sparing surrounding tissues. Traditional LATTICE uses rigid vertex patterns, limiting adaptability for irregular tumors or those near critical organs. This study introduces a novel planning method with flexible vertex placement and joint optimization of vertex positions and dose distribution, enhancing treatment precision. The method integrates vertex positioning with other treatment variables within a constrained optimization framework, allowing dynamic adjustments. Results showed that plans generated with the new method (NEW) demonstrated superior or comparable quality to conventional LATTICE plans, with improvements in the optimization objective and peak-to-valley dose ratio (PVDR). This approach offers significant improvements in target dose conformity and OAR sparing, providing an enhanced LATTICE technique.
For effective multi-agent trajectory planning, it is important to consider lightweight communication and its potential asynchrony. This paper presents a distributed trajectory planning algorithm for a quadrotor swarm that operates asynchronously and requires no communication except during the initial planning phase. Moreover, our algorithm guarantees no deadlock under asynchronous updates and absence of communication during flight. To effectively ensure these points, we build two main modules: coordination state updater and trajectory optimizer. The coordination state updater computes waypoints for each agent toward its goal and performs subgoal optimization while considering deadlocks, as well as safety constraints with respect to neighbor agents and obstacles. Then, the trajectory optimizer generates a trajectory that ensures collision avoidance even with the asynchronous planning updates of neighboring agents. We provide a theoretical guarantee of collision avoidance with deadlock resolution and evaluate the effectiveness of our method in complex simulation environments, including random forests and narrow-gap mazes. Additionally, to reduce the total mission time, we design a faster coordination state update using lightweight communication. Lastly, our approach is validated through extensive simulations and real-world experiments with cluttered environment scenarios.
The Any Light Particle Search II (ALPS II) experiment at DESY, Hamburg, is a Light-Shining-through-a-Wall (LSW) experiment aiming to probe the existence of axions and axion-like particles (ALPs), which are candidates for dark matter. Data collection in ALPS II is underway utilizing a heterodyne-based detection scheme. A complementary run for confirmation or as an alternative method is planned using single photon detection, requiring a sensor capable of measuring low-energy photons ($1064\,\mathrm{nm}$, $1.165\,\mathrm{eV}$) with high efficiency (higher than $50\,\%$) and a low background rate (below $7.7\cdot10^{-6}\,\mathrm{cps}$). To meet these requirements, we are investigating a tungsten Transition Edge Sensor (TES) provided by NIST, which operates in its superconducting transition region at millikelvin temperatures. This sensor exploits the drastic change in resistance caused by the absorption of a single photon. We find that the background observed in the setup with a fiber-coupled TES is consistent with Black Body Radiation (BBR) as the primary background contributor. A framework was developed to simulate BBR propagation to the TES under realistic conditions. The framework not only allows the exploration of background reduction strategies, such as improving the TES energy resolution, but also reproduces, within uncertainties, the spectral distribution of the observed background. These simulations have been validated with experimental data, in agreement with the modeled background distribution, and show that the improved energy resolution reduces the background rate in the $1064\,\mathrm{nm}$ signal region by one order of magnitude, to approximately $10^{-4}\,\mathrm{cps}$. However, this rate must be reduced further to meet the ALPS II requirements.
Children with Autism commonly face difficulties in vocabulary acquisition, which can have an impact on their social communication. Using digital tools for vocabulary learning can prove beneficial for these children, as they can provide a predictable environment and effective individualized feedback. While existing work has explored the use of technology-assisted vocabulary learning for children with Autism, no study has incorporated turn-taking to facilitate learning and use of vocabulary similar to that used in real-world social contexts. To address this gap, we propose the design of a cooperative two-player vocabulary learning game, CoVoL. CoVoL allows children to engage in game-based vocabulary learning useful for real-world social communication scenarios. We discuss our first prototype and its evaluation. Additionally, we present planned features which are based on feedback obtained through ten interviews with researchers and therapists, as well as an evaluation plan for the final release of CoVoL.
3D Gaussian Splatting (3DGS) has recently gained popularity as a faster alternative to Neural Radiance Fields (NeRFs) in 3D reconstruction and view synthesis methods. Leveraging the spatial information encoded in 3DGS, this work proposes FOCI (Field Overlap Collision Integral), an algorithm that is able to optimize trajectories directly on the Gaussians themselves. FOCI leverages a novel and interpretable collision formulation for 3DGS using the notion of the overlap integral between Gaussians. Contrary to other approaches, which represent the robot with conservative bounding boxes that underestimate the traversability of the environment, we propose to represent the environment and the robot as Gaussian Splats. This not only has desirable computational properties, but also allows for orientation-aware planning, allowing the robot to pass through very tight and narrow spaces. We extensively test our algorithm in both synthetic and real Gaussian Splats, showcasing that collision-free trajectories for the ANYmal legged robot that can be computed in a few seconds, even with hundreds of thousands of Gaussians making up the environment. The project page and code are available at https://rffr.leggedrobotics.com/works/foci/
Visual planning, by offering a sequence of intermediate visual subgoals to a goal-conditioned low-level policy, achieves promising performance on long-horizon manipulation tasks. To obtain the subgoals, existing methods typically resort to video generation models but suffer from model hallucination and computational cost. We present Vis2Plan, an efficient, explainable and white-box visual planning framework powered by symbolic guidance. From raw, unlabeled play data, Vis2Plan harnesses vision foundation models to automatically extract a compact set of task symbols, which allows building a high-level symbolic transition graph for multi-goal, multi-stage planning. At test time, given a desired task goal, our planner conducts planning at the symbolic level and assembles a sequence of physically consistent intermediate sub-goal images grounded by the underlying symbolic representation. Our Vis2Plan outperforms strong diffusion video generation-based visual planners by delivering 53\% higher aggregate success rate in real robot settings while generating visual plans 35$\times$ faster. The results indicate that Vis2Plan is able to generate physically consistent image goals while offering fully inspectable reasoning steps.
Unmanned Aerial Vehicle (UAV) Coverage Path Planning (CPP) is critical for applications such as precision agriculture and search and rescue. While traditional methods rely on discrete grid-based representations, real-world UAV operations require power-efficient continuous motion planning. We formulate the UAV CPP problem in a continuous environment, minimizing power consumption while ensuring complete coverage. Our approach models the environment with variable-size axis-aligned rectangles and UAV motion with curvature-constrained B\'ezier curves. We train a reinforcement learning agent using an action-mapping-based Soft Actor-Critic (AM-SAC) algorithm employing a self-adaptive curriculum. Experiments on both procedurally generated and hand-crafted scenarios demonstrate the effectiveness of our method in learning energy-efficient coverage strategies.
Vision-language models (VLMs) have demonstrated excellent high-level planning capabilities, enabling locomotion skill learning from video demonstrations without the need for meticulous human-level reward design. However, the improper frame sampling method and low training efficiency of current methods remain a critical bottleneck, resulting in substantial computational overhead and time costs. To address this limitation, we propose Motion-aware Rapid Reward Optimization for Efficient Robot Skill Learning from Single Videos (MA-ROESL). MA-ROESL integrates a motion-aware frame selection method to implicitly enhance the quality of VLM-generated reward functions. It further employs a hybrid three-phase training pipeline that improves training efficiency via rapid reward optimization and derives the final policy through online fine-tuning. Experimental results demonstrate that MA-ROESL significantly enhances training efficiency while faithfully reproducing locomotion skills in both simulated and real-world settings, thereby underscoring its potential as a robust and scalable framework for efficient robot locomotion skill learning from video demonstrations.
Cardinality estimation is a fundamental component in database systems, crucial for generating efficient execution plans. Despite advancements in learning-based cardinality estimation, existing methods may struggle to simultaneously optimize the key criteria: estimation accuracy, inference time, and storage overhead, limiting their practical applicability in real-world database environments. This paper introduces QSPN, a unified model that integrates both data distribution and query workload. QSPN achieves high estimation accuracy by modeling data distribution using the simple yet effective Sum-Product Network (SPN) structure. To ensure low inference time and reduce storage overhead, QSPN further partitions columns based on query access patterns. We formalize QSPN as a tree-based structure that extends SPNs by introducing two new node types: QProduct and QSplit. This paper studies the research challenges of developing efficient algorithms for the offline construction and online computation of QSPN. We conduct extensive experiments to evaluate QSPN in both single-table and multi-table cardinality estimation settings. The experimental results have demonstrated that QSPN achieves superior and robust performance on the three key criteria, compared with state-of-the-art approaches.
We present the Evolutionary Map of the Universe (EMU) survey conducted with the Australian Square Kilometre Array Pathfinder (ASKAP). EMU aims to deliver the touchstone radio atlas of the southern hemisphere. We introduce EMU and review its science drivers and key science goals, updated and tailored to the current ASKAP five-year survey plan. The development of the survey strategy and planned sky coverage is presented, along with the operational aspects of the survey and associated data analysis, together with a selection of diagnostics demonstrating the imaging quality and data characteristics. We give a general description of the value-added data pipeline and data products before concluding with a discussion of links to other surveys and projects and an outline of EMU's legacy value.
We introduce adaptive view planning to multi-view synthesis, aiming to improve both occlusion revelation and 3D consistency for single-view 3D reconstruction. Instead of generating an unordered set of views independently or simultaneously, we generate a sequence of views, leveraging temporal consistency to enhance 3D coherence. Most importantly, our view sequence is not determined by a pre-determined camera setup. Instead, we compute an adaptive camera trajectory (ACT), specifically, an orbit of camera views, which maximizes the visibility of occluded regions of the 3D object to be reconstructed. Once the best orbit is found, we feed it to a video diffusion model to generate novel views around the orbit, which in turn, are passed to a multi-view 3D reconstruction model to obtain the final reconstruction. Our multi-view synthesis pipeline is quite efficient since it involves no run-time training/optimization, only forward inferences by applying the pre-trained models for occlusion analysis and multi-view synthesis. Our method predicts camera trajectories that reveal occlusions effectively and produce consistent novel views, significantly improving 3D reconstruction over SOTA on the unseen GSO dataset, both quantitatively and qualitatively.
Controlling high-dimensional nonlinear systems, such as those found in biological and robotic applications, is challenging due to large state and action spaces. While deep reinforcement learning has achieved a number of successes in these domains, it is computationally intensive and time consuming, and therefore not suitable for solving large collections of tasks that require significant manual tuning. In this work, we introduce Model Predictive Control with Morphology-aware Proportional Control (MPC^2), a hierarchical model-based learning algorithm for zero-shot and near-real-time control of high-dimensional complex dynamical systems. MPC^2 uses a sampling-based model predictive controller for target posture planning, and enables robust control for high-dimensional tasks by incorporating a morphology-aware proportional controller for actuator coordination. The algorithm enables motion control of a high-dimensional human musculoskeletal model in a variety of motion tasks, such as standing, walking on different terrains, and imitating sports activities. The reward function of MPC^2 can be tuned via black-box optimization, drastically reducing the need for human-intensive reward engineering.
This paper presents a novel constrained Factor Graph Optimization (FGO)-based approach for networked inertial navigation in pedestrian localization. To effectively mitigate the drift inherent in inertial navigation solutions, we incorporate kinematic constraints directly into the nonlinear optimization framework. Specifically, we utilize equality constraints, such as Zero-Velocity Updates (ZUPTs), and inequality constraints representing the maximum allowable distance between body-mounted Inertial Measurement Units (IMUs) based on human anatomical limitations. While equality constraints are straightforwardly integrated as error factors, inequality constraints cannot be explicitly represented in standard FGO formulations. To address this, we introduce a differentiable softmax-based penalty term in the FGO cost function to enforce inequality constraints smoothly and robustly. The proposed constrained FGO approach leverages temporal correlations across multiple epochs, resulting in optimal state trajectory estimates while consistently maintaining constraint satisfaction. Experimental results confirm that our method outperforms conventional Kalman filter approaches, demonstrating its effectiveness and robustness for pedestrian navigation.
This paper presents a novel gradient-aware slicing method for functionally graded additive manufacturing (FGM) that overcomes the limitations of conventional toolpath planning approaches, which struggle to produce truly continuous gradients. By integrating multi-material gradients into the toolpath generation process, our method enables the fabrication of FGMs with complex gradients that vary seamlessly along all three axes. We leverage OpenVCAD's implicit representation of geometry and material fields to directly extract iso-contours, enabling accurate, controlled gradient toolpaths. Two novel strategies are introduced to integrate these gradients into the toolpath planning process. The first strategy maintains traditional perimeter, skin, and infill structures subdivided by mixture ratios, with automated 'zippering' to mitigate stress concentrations. The second strategy fills iso-contoured regions densely, printing directly against gradients to eliminate purging and reduce waste. Both strategies accommodate gradually changing printing parameters, such as mixed filament ratios, toolhead switching, and variable nozzle temperatures for foaming materials. This capability allows for controlled variation of composition, density, and other properties within a single build, expanding the design space for functionally graded parts. Experimental results demonstrate the fabrication of high-quality FGMs with complex, multi-axis gradients, highlighting the versatility of our method. We showcase the successful implementation of both strategies on a range of geometries and material combinations, demonstrating the potential of our approach to produce intricate and functional FGMs. This work provides a robust, open-source, and automated framework for designing and fabricating advanced FGMs, accelerating research in multi-material additive manufacturing.
It is well recognised that ensuring fair AI systems is a complex sociotechnical challenge, which requires careful deliberation and continuous oversight across all stages of a system's lifecycle, from defining requirements to model deployment and deprovisioning. Dynamic argument-based assurance cases, which present structured arguments supported by evidence, have emerged as a systematic approach to evaluating and mitigating safety risks and hazards in AI-enabled system development and have also been extended to deal with broader normative goals such as fairness and explainability. This paper introduces a systems-engineering-driven framework, supported by software tooling, to operationalise a dynamic approach to argument-based assurance in two stages. In the first stage, during the requirements planning phase, a multi-disciplinary and multi-stakeholder team define goals and claims to be established (and evidenced) by conducting a comprehensive fairness governance process. In the second stage, a continuous monitoring interface gathers evidence from existing artefacts (e.g. metrics from automated tests), such as model, data, and use case documentation, to support these arguments dynamically. The framework's effectiveness is demonstrated through an illustrative case study in finance, with a focus on supporting fairness-related arguments.
Unmanned Aerial Vehicles (UAVs) have become vital in search-and-rescue (SAR) missions, with autonomous mission planning improving response times and coverage efficiency. Early approaches primarily used path planning techniques such as A*, potential-fields, or Dijkstra's algorithm, while recent approaches have incorporated meta-heuristic frameworks like genetic algorithms and particle swarm optimization to balance competing objectives such as network connectivity, energy efficiency, and strategic placement of charging stations. However, terrain-aware path planning remains under-explored, despite its critical role in optimizing UAV SAR deployments. To address this gap, we present a computer-vision based terrain-aware mission planner that autonomously extracts and analyzes terrain topology to enhance SAR pre-flight planning. Our framework uses a deep segmentation network fine-tuned on our own collection of landcover datasets to transform satellite imagery into a structured, grid-based representation of the operational area. This classification enables terrain-specific UAV-task allocation, improving deployment strategies in complex environments. We address the challenge of irregular terrain partitions, by introducing a two-stage partitioning scheme that first evaluates terrain monotonicity along coordinate axes before applying a cost-based recursive partitioning process, minimizing unnecessary splits and optimizing path efficiency. Empirical validation in a high-fidelity simulation environment demonstrates that our approach improves search and dispatch time over multiple meta-heuristic techniques and against a competing state-of-the-art method. These results highlight its potential for large-scale SAR operations, where rapid response and efficient UAV coordination are critical.
This study investigates a stochastic production planning problem with regime-switching parameters, inspired by economic cycles impacting production and inventory costs. The model considers types of goods and employs a Markov chain to capture probabilistic regime transitions, coupled with a multidimensional Brownian motion representing stochastic demand dynamics. The production and inventory cost optimization problem is formulated as a quadratic cost functional, with the solution characterized by a regime-dependent system of elliptic partial differential equations (PDEs). Numerical solutions to the PDE system are computed using a monotone iteration algorithm, enabling quantitative analysis. Sensitivity analysis and model risk evaluation illustrate the effects of regime-dependent volatility, holding costs, and discount factors, revealing the conservative bias of regime-switching models when compared to static alternatives. Practical implications include optimizing production strategies under fluctuating economic conditions and exploring future extensions such as correlated Brownian dynamics, non-quadratic cost functions, and geometric inventory frameworks. This research bridges the gap between theoretical modeling and practical applications, offering a robust framework for dynamic production planning.
We introduce PRISM (Pathfinding with Rapid Information Sharing using Motion Constraints), a decentralized algorithm designed to address the multi-task multi-agent pathfinding (MT-MAPF) problem. PRISM enables large teams of agents to concurrently plan safe and efficient paths for multiple tasks while avoiding collisions. It employs a rapid communication strategy that uses information packets to exchange motion constraint information, enhancing cooperative pathfinding and situational awareness, even in scenarios without direct communication. We prove that PRISM resolves and avoids all deadlock scenarios when possible, a critical challenge in decentralized pathfinding. Empirically, we evaluate PRISM across five environments and 25 random scenarios, benchmarking it against the centralized Conflict-Based Search (CBS) and the decentralized Token Passing with Task Swaps (TPTS) algorithms. PRISM demonstrates scalability and solution quality, supporting 3.4 times more agents than CBS and handling up to 2.5 times more tasks in narrow passage environments than TPTS. Additionally, PRISM matches CBS in solution quality while achieving faster computation times, even under low-connectivity conditions. Its decentralized design reduces the computational burden on individual agents, making it scalable for large environments. These results confirm PRISM's robustness, scalability, and effectiveness in complex and dynamic pathfinding scenarios.
This paper addresses the feasibility of virtual holonomic constraints (VHCs) in the context of motion planning for underactuated mechanical systems with a single degree of underactuation. While existing literature has established a widely accepted definition of VHC, we argue that this definition is overly restrictive and excludes a broad class of admissible trajectories from consideration. To illustrate this point, we analyze a periodic motion of the Planar Vertical Take-Off and Landing (PVTOL) aircraft. The corresponding phase trajectory and reference control input are analytic functions. We demonstrate the stabilizability of this solution by constructing a feedback controller that ensures asymptotic orbital stability. However, for this solution -- as well as for a broad class of similar ones -- there exists no VHC that satisfies the conventional definition. This observation calls for a reconsideration of how the notion of VHC is defined, with the potential to significantly expand the practical applicability of VHCs in motion planning.
Generative models have shown great promise as trajectory planners, given their affinity to modeling complex distributions and guidable inference process. Previous works have successfully applied these in the context of robotic manipulation but perform poorly when the required solution does not exist as a complete trajectory within the training set. We identify that this is a result of being unable to plan via stitching, and subsequently address the architectural and dataset choices needed to remedy this. On top of this, we propose a novel addition to the training and inference procedures to both stabilize and enhance these capabilities. We demonstrate the efficacy of our approach by generating plans with out of distribution boundary conditions and performing obstacle avoidance on the Franka Panda in simulation and on real hardware. In both of these tasks our method performs significantly better than the baselines and is able to avoid obstacles up to four times as large.
We present a novel algorithm for large-scale Multi-Agent Path Finding (MAPF) that enables fast, scalable planning in dynamic environments such as automated warehouses. Our approach introduces finite-horizon hierarchical factorization, a framework that plans one step at a time in a receding-horizon fashion. Robots first compute individual plans in parallel, and then dynamically group based on spatio-temporal conflicts and reachability. The framework accounts for conflict resolution, and for immediate execution and concurrent planning, significantly reducing response time compared to offline algorithms. Experimental results on benchmark maps demonstrate that our method achieves up to 60% reduction in time-to-first-action while consistently delivering high-quality solutions, outperforming state-of-the-art offline baselines across a range of problem sizes and planning horizons.
In this paper, we propose a novel image restoration framework that integrates optimal control techniques with the Hamilton-Jacobi-Bellman (HJB) equation. Motivated by models from production planning, our method restores degraded images by balancing an intervention cost against a state-dependent penalty that quantifies the loss of critical image information. Under the assumption of radial symmetry, the HJB equation is reduced to an ordinary differential equation and solved via a shooting method, from which the optimal feedback control is derived. Numerical experiments, supported by extensive parameter tuning and quality metrics such as PSNR and SSIM, demonstrate that the proposed framework achieves significant improvement in image quality. The results not only validate the theoretical model but also suggest promising directions for future research in adaptive and hybrid image restoration techniques.
[...] With the TelePhysicalOperation interface, the user can teleoperate the different capabilities of a robot (e.g., single/double arm manipulation, wheel/leg locomotion) by applying virtual forces on selected robot body parts. This approach emulates the intuitiveness of physical human-robot interaction, but at the same time it permits to teleoperate the robot from a safe distance, in a way that resembles a "Marionette" interface. The system is further enhanced with wearable haptic feedback functions to align better with the "Marionette" metaphor, and a user study has been conducted to validate its efficacy with and without the haptic channel enabled. Considering the importance of robot independence, the TelePhysicalOperation interface incorporates autonomy modules to face, for example, the teleoperation of dual-arm mobile base robots for bimanual object grasping and transportation tasks. With the laser-guided interface, the user can indicate points of interest to the robot through the utilization of a simple but effective laser emitter device. With a neural network-based vision system, the robot tracks the laser projection in real time, allowing the user to indicate not only fixed goals, like objects, but also paths to follow. With the implemented autonomous behavior, a mobile manipulator employs its locomanipulation abilities to follow the indicated goals. The behavior is modeled using Behavior Trees, exploiting their reactivity to promptly respond to changes in goal positions, and their modularity to adapt the motion planning to the task needs. The proposed laser interface has also been employed in an assistive scenario. In this case, users with upper limbs impairments can control an assistive manipulator by directing a head-worn laser emitter to the point of interests, to collaboratively address activities of everyday life. [...]
Food market accessibility is a critical yet underexplored dimension of food systems, particularly in low- and middle-income countries. Here, we present a continent-wide assessment of spatial food market accessibility in Africa, integrating open geospatial data from OpenStreetMap and the World Food Programme. We compare three complementary metrics: travel time to the nearest market, market availability within a 30-minute threshold, and an entropy-based measure of spatial distribution, to quantify accessibility across diverse settings. Our analysis reveals pronounced disparities: rural and economically disadvantaged populations face substantially higher travel times, limited market reach, and less spatial redundancy. These accessibility patterns align with socioeconomic stratification, as measured by the Relative Wealth Index, and moderately correlate with food insecurity levels, assessed using the Integrated Food Security Phase Classification. Overall, results suggest that access to food markets plays a relevant role in shaping food security outcomes and reflects broader geographic and economic inequalities. This framework provides a scalable, data-driven approach for identifying underserved regions and supporting equitable infrastructure planning and policy design across diverse African contexts.
Navigation of a team of autonomous underwater vehicles (AUVs) coordinated by an unmanned surface vehicle (USV) is efficient and reliable for deep ocean exploration. AUVs depart from and return to the USV after collaborative navigation, data collection, and ocean exploration missions. Efficient path planning and accurate localization are essential, the latter of which is critical due to the lack of global localization signals and poor radio frequency (RF) communication in deep waters. Inertial navigation and acoustic communication are common solutions for localization. However, the former is subject to odometry drifts, and the latter is limited to short distances. This paper proposes a systematic approach for localization-aware energy-efficient collision-free path planning for a USV-AUVs team. Path planning is formulated as finite receding horizon model predictive control (MPC) optimization. A dynamic-aware linear kinodynamic motion equation is developed. The mathematical formulation for the MPC optimization is effectively developed where localization is integrated as consensus graph optimization among AUV nodes. Edges in the optimized AUV-to-USV (A2U) and AUV-to-AUV (A2A) graphs are constrained to the sonar range of acoustic modems. The time complexity of the consensus MPC optimization problem is analyzed, revealing a nonconvex NP-hard problem, which is solved using sequential convex programming. Numerical simulation results are provided to evaluate the proposed method.
Solar Orbiter conducted a series of flare-optimised observing campaigns in 2024 utilising the Major Flare Solar Orbiter Observing Plan (SOOP). Dedicated observations were performed during two distinct perihelia intervals in March/April and October, during which over 22 flares were observed, ranging from B- to M-class. These campaigns leveraged high-resolution and high-cadence observations from the mission's remote-sensing suite, including the High-Resolution EUV Imager (EUI/HRI_EUV), the Spectrometer/Telescope for Imaging X-rays (STIX), the Spectral Imaging of the Coronal Environment (SPICE) spectrometer, and the High Resolution Telescope of the Polarimetric and Helioseismic Imager (PHI/HRT), as well as coordinated ground-based and Earth-orbiting observations. EUI/HRI_EUV operating in short-exposure modes, provided two-second-cadence, non-saturated EUV images, revealing structures and dynamics on scales not previously observed. Simultaneously, STIX captured hard X-ray imaging and spectroscopy of accelerated electrons, while SPICE acquired EUV slit spectroscopy to probe chromospheric and coronal responses. Together, these observations offer an unprecedented view of magnetic reconnection, energy release, particle acceleration, and plasma heating across a broad range of temperatures and spatial scales. These campaigns have generated a rich dataset that will be the subject of numerous future studies addressing Solar Orbiter's top-level science goal: "How do solar eruptions produce energetic particle radiation that fills the heliosphere?". This paper presents the scientific motivations, operational planning, and observational strategies behind the 2024 flare campaigns, along with initial insights into the observed flares. We also discuss lessons learned for optimizing future Solar Orbiter Major Flare campaigns and provide a resource for researchers aiming to utilize these unique observations.