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The European Committee for Future Accelerators (ECFA) Early-Career Researcher (ECR) panel, which represents the interests of the ECR community to ECFA, presents in this document its initiatives and activities in the year 2023. This report summarises the process of the first big turnover in the panel composition at the start of 2023 and reports on the activities of the active working groups - either pursued from before or newly established. The overarching goal of the ECFA-ECR panel is to better understand and support the diverse interests of early-career researchers in the ECFA community and beyond., Comment: Editors: Jan-Hendrik Arling, Cecilia Borca, Armin Ilg, Arnau Morancho Tarda, Holly Pacey, Marko Pesut, Elisabetta Spadaro Norella and Marta Urbaniak. arXiv admin note: substantial text overlap with arXiv:2212.11238

In open-set semi-supervised learning (OSSL), we consider unlabeled datasets that may contain unknown classes. Existing OSSL methods often use the softmax confidence for classifying data as in-distribution (ID) or out-of-distribution (OOD). Additionally, many works for OSSL rely on ad-hoc thresholds for ID/OOD classification, without considering the statistics of the problem. We propose a new score for ID/OOD classification based on angles in feature space between data and an ID subspace. Moreover, we propose an approach to estimate the conditional distributions of scores given ID or OOD data, enabling probabilistic predictions of data being ID or OOD. These components are put together in a framework for OSSL, termed \emph{ProSub}, that is experimentally shown to reach SOTA performance on several benchmark problems. Our code is available at https://github.com/walline/prosub., Comment: ECCV2024

Multi-object grasping is a challenging task. It is important for energy and cost-efficient operation of industrial crane manipulators, such as those used to collect tree logs off the forest floor and onto forest machines. In this work, we used synthetic data from physics simulations to explore how data-driven modeling can be used to infer multi-object grasp poses from images. We showed that convolutional neural networks can be trained specifically for synthesizing multi-object grasps. Using RGB-Depth images and instance segmentation masks as input, a U-Net model outputs grasp maps with corresponding grapple orientation and opening width. Given an observation of a pile of logs, the model can be used to synthesize and rate the possible grasp poses and select the most suitable one, with the possibility to respect changing operational constraints such as lift capacity and reach. When tested on previously unseen data, the proposed model found successful grasp poses with an accuracy of 95%.

We explore multi-log grasping using reinforcement learning and virtual visual servoing for automated forwarding in a simulated environment. Automation of forest processes is a major challenge, and many techniques regarding robot control pose different challenges due to the unstructured and harsh outdoor environment. Grasping multiple logs involves various problems of dynamics and path planning, where understanding the interaction between the grapple, logs, terrain, and obstacles requires visual information. To address these challenges, we separate image segmentation from crane control and utilise a virtual camera to provide an image stream from reconstructed 3D data. We use Cartesian control to simplify domain transfer to real-world applications. Since log piles are static, visual servoing using a 3D reconstruction of the pile and its surroundings is equivalent to using real camera data until the point of grasping. This relaxes the limits on computational resources and time for the challenge of image segmentation and allows for collecting data in situations where the log piles are not occluded. The disadvantage is the lack of information during grasping. We demonstrate that this problem is manageable and present an agent that is 95% successful in picking one or several logs from challenging piles of 2--5 logs., Comment: 8 pages, 10 figures

The Light Dark Matter eXperiment (LDMX) is an electron-beam fixed-target experiment designed to achieve comprehensive model independent sensitivity to dark matter particles in the sub-GeV mass region. An upgrade to the LCLS-II accelerator will increase the beam energy available to LDMX from 4 to 8 GeV. Using detailed GEANT4-based simulations, we investigate the effect of the increased beam energy on the capabilities to separate signal and background, and demonstrate that the veto methodology developed for 4 GeV successfully rejects photon-induced backgrounds for at least $2\times10^{14}$ electrons on target at 8 GeV., Comment: 28 pages, 20 figures; corrected author list

We explore sim-to-real transfer of deep reinforcement learning controllers for a heavy vehicle with active suspensions designed for traversing rough terrain. While related research primarily focuses on lightweight robots with electric motors and fast actuation, this study uses a forestry vehicle with a complex hydraulic driveline and slow actuation. We simulate the vehicle using multibody dynamics and apply system identification to find an appropriate set of simulation parameters. We then train policies in simulation using various techniques to mitigate the sim-to-real gap, including domain randomization, action delays, and a reward penalty to encourage smooth control. In reality, the policies trained with action delays and a penalty for erratic actions perform nearly at the same level as in simulation. In experiments on level ground, the motion trajectories closely overlap when turning to either side, as well as in a route tracking scenario. When faced with a ramp that requires active use of the suspensions, the simulated and real motions are in close alignment. This shows that the actuator model together with system identification yields a sufficiently accurate model of the actuators. We observe that policies trained without the additional action penalty exhibit fast switching or bang-bang control. These present smooth motions and high performance in simulation but transfer poorly to reality. We find that policies make marginal use of the local height map for perception, showing no indications of predictive planning. However, the strong transfer capabilities entail that further development concerning perception and performance can be largely confined to simulation., Comment: 15 pages, 18 figures

Open-set semi-supervised learning (OSSL) embodies a practical scenario within semi-supervised learning, wherein the unlabeled training set encompasses classes absent from the labeled set. Many existing OSSL methods assume that these out-of-distribution data are harmful and put effort into excluding data belonging to unknown classes from the training objective. In contrast, we propose an OSSL framework that facilitates learning from all unlabeled data through self-supervision. Additionally, we utilize an energy-based score to accurately recognize data belonging to the known classes, making our method well-suited for handling uncurated data in deployment. We show through extensive experimental evaluations that our method yields state-of-the-art results on many of the evaluated benchmark problems in terms of closed-set accuracy and open-set recognition when compared with existing methods for OSSL. Our code is available at https://github.com/walline/ssl-tf2-sefoss., Comment: WACV2024

Following the success of supervised learning, semi-supervised learning (SSL) is now becoming increasingly popular. SSL is a family of methods, which in addition to a labeled training set, also use a sizable collection of unlabeled data for fitting a model. Most of the recent successful SSL methods are based on pseudo-labeling approaches: letting confident model predictions act as training labels. While these methods have shown impressive results on many benchmark datasets, a drawback of this approach is that not all unlabeled data are used during training. We propose a new SSL algorithm, DoubleMatch, which combines the pseudo-labeling technique with a self-supervised loss, enabling the model to utilize all unlabeled data in the training process. We show that this method achieves state-of-the-art accuracies on multiple benchmark datasets while also reducing training times compared to existing SSL methods. Code is available at https://github.com/walline/doublematch., Comment: ICPR2022

We present a method that uses high-resolution topography data of rough terrain, and ground vehicle simulation, to predict traversability. Traversability is expressed as three independent measures: the ability to traverse the terrain at a target speed, energy consumption, and acceleration. The measures are continuous and reflect different objectives for planning that go beyond binary classification. A deep neural network is trained to predict the traversability measures from the local heightmap and target speed. To produce training data, we use an articulated vehicle with wheeled bogie suspensions and procedurally generated terrains. We evaluate the model on laser-scanned forest terrains, previously unseen by the model. The model predicts traversability with an accuracy of 90%. Predictions rely on features from the high-dimensional terrain data that surpass local roughness and slope relative to the heading. Correlations show that the three traversability measures are complementary to each other. With an inference speed 3000 times faster than the ground truth simulation and trivially parallelizable, the model is well suited for traversability analysis and optimal path planning over large areas., Comment: 11 pages, 17 figures, 2 tables

We explore the potential to control terrain vehicles using deep reinforcement in scenarios where human operators and traditional control methods are inadequate. This letter presents a controller that perceives, plans, and successfully controls a 16-tonne forestry vehicle with two frame articulation joints, six wheels, and their actively articulated suspensions to traverse rough terrain. The carefully shaped reward signal promotes safe, environmental, and efficient driving, which leads to the emergence of unprecedented driving skills. We test learned skills in a virtual environment, including terrains reconstructed from high-density laser scans of forest sites. The controller displays the ability to handle obstructing obstacles, slopes up to 27$^\circ$, and a variety of natural terrains, all with limited wheel slip, smooth, and upright traversal with intelligent use of the active suspensions. The results confirm that deep reinforcement learning has the potential to enhance control of vehicles with complex dynamics and high-dimensional observation data compared to human operators or traditional control methods, especially in rough terrain., Comment: 16 pages, 13 figures

Systems for transport and processing of granular media are challenging to analyse, operate and optimise. In the mining and mineral processing industries these systems are chains of processes with complex interplay between the equipment, control, and the processed material. The material properties have natural variations that are usually only known at certain locations. Therefore, we explore a material-oriented approach to digital twins with a particle representation of the granular media. In digital form, the material is treated as pseudo-particles, each representing a large collection of real particles of various sizes, shapes and, mineral properties. Movements and changes in the state of the material are determined by the combined data from control systems, sensors, vehicle telematics, and simulation models at locations where no real sensors can see. The particle-based representation enables material tracking along the chain of processes. Each digital particle can act as a carrier of observational data generated by the equipment as it interacts with the real material. This makes it possible to better learn material properties from process observations, and to predict the effect on downstream processes. We test the technique on a mining simulator and demonstrate analysis that can be performed using data from cross-system material tracking., Comment: 19 pages, 16 figures

Forestry machines are heavy vehicles performing complex manipulation tasks in unstructured production forest environments. Together with the complex dynamics of the on-board hydraulically actuated cranes, the rough forest terrains have posed a particular challenge in forestry automation. In this study, the feasibility of applying reinforcement learning control to forestry crane manipulators is investigated in a simulated environment. Our results show that it is possible to learn successful actuator-space control policies for energy efficient log grasping by invoking a simple curriculum in a deep reinforcement learning setup. Given the pose of the selected logs, our best control policy reaches a grasping success rate of 97%. Including an energy-optimization goal in the reward function, the energy consumption is significantly reduced compared to control policies learned without incentive for energy optimization, while the increase in cycle time is marginal. The energy-optimization effects can be observed in the overall smoother motion and acceleration profiles during crane manipulation., Comment: 8 pages, 6 figures

We investigate the use of reduced-order modelling to run discrete element simulations at higher speeds. Taking a data-driven approach, we run many offline simulations in advance and train a model to predict the velocity field from the mass distribution and system control signals. Rapid model inference of particle velocities replaces the intense process of computing contact forces and velocity updates. In coupled DEM and multibody system simulation the predictor model can be trained to output the interfacial reaction forces as well. An adaptive model order reduction technique is investigated, decomposing the media in domains of solid, liquid, and gaseous state. The model reduction is applied to solid and liquid domains where the particle motion is strongly correlated with the mean flow, while resolved DEM is used for gaseous domains. Using a ridge regression predictor, the performance is tested on simulations of a pile discharge and bulldozing. The measured accuracy is about 90% and 65%, respectively, and the speed-up range between 10 and 60., Comment: 17 pages, 15 figures

The radiation emission from electrons wiggling in a laser wakefield acceleration (LWFA) process, being initially considered as a parasitic effect for the electron energy gain, can eventually serve as a novel X-ray source, that could be used for diagnostic purposes. Although several schemes for enhancing the X-ray emission in LWFA has been recently proposed and analyzed, finding an efficient way to use and control these radiation emissions remains an important problem. Based on analytical estimates and 3D particle-in-cell simulations, we here propose and examine a new method utilizing two colliding LWFA patterns with an angle in-between their propagation directions. Varying the angle of collision, the distance of acceleration before the collision and other parameters provide an unprecedented control over the emission parameters. Moreover, we reveal here that for a collision angle of 5$^\circ$, the two wakefields merge into a single LWFA cavity inducing strong and stable collective oscillations between the two trapped electron bunches. This results in an X-ray emission which is strongly peaked, both in the spatial and frequency domain. The basic concept of the proposed scheme may pave a way for using LWFA radiation sources in many important applications, such as phase-contrast radiography., Comment: 7 pages, 8 figures

Although, for current laser pulse energies, the weakly nonlinear regime of LWFA is known to be the optimal for reaching the highest possible electron energies, the capabilities of upcoming large laser systems will provide the possibility of running highly nonlinear regimes of laser pulse propagation in underdense or near-critical plasmas. Using an extended particle-in-cell (PIC) model that takes into account all the relevant physics, we show that such regimes can be implemented with external guiding for a relatively long distance of propagation and allow for the stable transformation of laser energy into other types of energy, including the kinetic energy of a large number of high energy electrons and their incoherent emission of photons. This is despite the fact that the high intensity of the laser pulse triggers a number of new mechanisms of energy depletion, which we investigate systematically., Comment: 7 pages, 8 figures

We model the emission of high energy photons due to relativistic charged particle motion in intense laser-plasma interactions. This is done within a particle-in-cell code, for which high frequency radiation normally cannot be resolved due to finite time steps and grid size. A simple expression for the synchrotron radiation spectra is used together with a Monte-Carlo method for the emittance. We extend previous work by allowing for arbitrary fields, considering the particles to be in instantaneous circular motion due to an effective magnetic field. Furthermore we implement noise reduction techniques and present validity estimates of the method. Finally, we perform a rigorous comparison to the mechanism of radiation reaction, and find the emitted energy to be in excellent agreement with the losses calculated using radiation reaction.