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This paper describes a novel approach to adaptive manufacturing in the context of small batch production and customization. It focuses on integrating task-level planning and reasoning with reinforcement learning (RL) in the SkiROS2 skill-based robot control platform. This integration enhances the efficiency and adaptability of robotic systems in manufacturing, enabling them to adjust to task variations and learn from interaction data. The paper highlights the architecture of SkiROS2, particularly its world model, skill libraries, and task management. It demonstrates how combining RL with robotic manipulators can learn and improve the execution of industrial tasks. It advocates a multi-objective learning model that eases the learning problem design. The approach can incorporate user priors or previous experiences to accelerate learning and increase safety. Spotlight video: https://youtu.be/H5PmZl2rRbs?si=8wmZ-gbwuSJRxe3S&t=1422 SkiROS2 code: https://github.com/RVMI/skiros2 SkiROS2 talk at ROSCon: https://vimeo.com/879001825/2a0e9d5412 SkiREIL code: https://github.com/matthias-mayr/SkiREIL, Comment: 3 pages, 2 figures. Presented at the IROS 2023 Workshop on Robotics & AI in Future Factory

Artificial neural networks open up unprecedented machine learning capabilities at the cost of ever growing computational requirements. Sparsifying the parameters, often achieved through weight pruning, has been identified as a powerful technique to compress the number of model parameters and reduce the computational operations of neural networks. Yet, sparse activations, while omnipresent in both biological neural networks and deep learning systems, have not been fully utilized as a compression technique in deep learning. Moreover, the interaction between sparse activations and weight pruning is not fully understood. In this work, we demonstrate that activity sparsity can compose multiplicatively with parameter sparsity in a recurrent neural network model based on the GRU that is designed to be activity sparse. We achieve up to $20\times$ reduction of computation while maintaining perplexities below $60$ on the Penn Treebank language modeling task. This magnitude of reduction has not been achieved previously with solely sparsely connected LSTMs, and the language modeling performance of our model has not been achieved previously with any sparsely activated recurrent neural networks or spiking neural networks. Neuromorphic computing devices are especially good at taking advantage of the dynamic activity sparsity, and our results provide strong evidence that making deep learning models activity sparse and porting them to neuromorphic devices can be a viable strategy that does not compromise on task performance. Our results also drive further convergence of methods from deep learning and neuromorphic computing for efficient machine learning., Comment: Accepted to the First MLNCP Workshop @ NeurIPS 2023

In this tutorial, we aim to directly recreate some of our "aha" moments when exploring the impact of heat diffusion on the spatial resolution limit of photothermal imaging. Our objective is also to communicate how this physical limit can nevertheless be overcome and include some concrete technological applications. Describing diffusion as a random walk, one insight is that such a stochastic process involves not only a Gaussian spread of the mean values in space, with the variance proportional to the diffusion time, but also temporal and spatial fluctuations around these mean values. All these fluctuations strongly influence the image reconstruction immediately after the short heating pulse. The Gaussian spread of the mean values in space increases the entropy, while the fluctuations lead to a loss of information that blurs the reconstruction of the initial temperature distribution and can be described mathematically by a spatial convolution with a Gaussian thermal point-spread-function (PSF). The information loss turns out to be equal to the mean entropy increase and limits the spatial resolution proportional to the depth of the imaged subsurface structures. This principal resolution limit can only be overcome by including additional information such as sparsity or positivity. Prior information can be also included by using a deep neural network with a finite degrees of freedom and trained on a specific class of image examples for image reconstruction.

Stories are as old as human history - and a powerful means for the engaging communication of information, especially in combination with visualizations. The InTaVia project is built on this intersection and has developed a platform which supports the workflow of cultural heritage experts to create compelling visualization-based stories: From the search for relevant cultural objects and actors in a cultural knowledge graph, to the curation and visual analysis of the selected information, and to the creation of stories based on these data and visualizations, which can be shared with the interested public., Comment: VIS4DH 2023

We present a low-power, energy efficient 32-bit RISC-V microprocessor unit (MCU) in 22 nm FD-SOI. It achieves ultra-low leakage,even at high temperatures, by using an adaptive reverse body biasing aware sign-off approach, a low-power optimized physical implementation, and custom SRAM macros with retention mode. We demonstrate the robustness of the chip with measurements over the full industrial temperature range, from -40 {\deg}C to 125 {\deg}C. Our results match the state of the art (SOTA) with 4.8 uW / MHz at 50 MHz in active mode and surpass the SOTA in ultra-low-power retention mode., Comment: accepted at ISOCC 2023

Robotic systems for manipulation tasks are increasingly expected to be easy to configure for new tasks. While in the past, robot programs were often written statically and tuned manually, the current, faster transition times call for robust, modular and interpretable solutions that also allow a robotic system to learn how to perform a task. We propose the method Behavior-based Bayesian Optimization and Planning (BeBOP) that combines two approaches for generating behavior trees: we build the structure using a reactive planner and learn specific parameters with Bayesian optimization. The method is evaluated on a set of robotic manipulation benchmarks and is shown to outperform state-of-the-art reinforcement learning algorithms by being up to 46 times faster while simultaneously being less dependent on reward shaping. We also propose a modification to the uncertainty estimate for the random forest surrogate models that drastically improves the results., Comment: Submitted to ICRA 2024

Data exploration and analysis in various domains often necessitate the search for specific objects in massive databases. A common search strategy, often known as search-by-classification, resorts to training machine learning models on small sets of positive and negative samples and to performing inference on the entire database to discover additional objects of interest. While such an approach often yields very good results in terms of classification performance, the entire database usually needs to be scanned, a process that can easily take several hours even for medium-sized data catalogs. In this work, we present RapidEarth, a geospatial search-by-classification engine that allows analysts to rapidly search for interesting objects in very large data collections of satellite imagery in a matter of seconds, without the need to scan the entire data catalog. RapidEarth embodies a co-design of multidimensional indexing structures and decision branches, a recently proposed variant of classical decision trees. These decision branches allow RapidEarth to transform the inference phase into a set of range queries, which can be efficiently processed by leveraging the aforementioned multidimensional indexing structures. The main contribution of this work is a geospatial search engine that implements these technical findings.

The transition to agile manufacturing, Industry 4.0, and high-mix-low-volume tasks require robot programming solutions that are flexible. However, most deployed robot solutions are still statically programmed and use stiff position control, which limit their usefulness. In this paper, we show how a single robot skill that utilizes knowledge representation, task planning, and automatic selection of skill implementations based on the input parameters can be executed in different contexts. We demonstrate how the skill-based control platform enables this with contact-rich wiping tasks on different robot systems. To achieve that in this case study, our approach needs to address different kinematics, gripper types, vendors, and fundamentally different control interfaces. We conducted the experiments with a mobile platform that has a Universal Robots UR5e 6 degree-of-freedom robot arm with position control and a 7 degree-of-freedom KUKA iiwa with torque control., Comment: 7 pages, 5 figures. Accepted at 2023 IEEE International Conference on Automation Science and Engineering (CASE)

Purpose: The recent proliferation of preprints could be a way for researchers worldwide to increase the availability and visibility of their research findings. Against the background of rising publication costs caused by the increasing prevalence of article processing fees, the search for other ways to publish research results besides traditional journal publication may increase. This could be especially true for lower-income countries. Design/methodology/approach: Therefore, we are interested in the experiences and attitudes towards posting and using preprints in the Global South as opposed to the Global North. To explore whether motivations and concerns about posting preprints differ, we adopted a mixed-methods approach, combining a quantitative survey of researchers with focus group interviews. Findings: We found that respondents from the Global South were more likely to agree to adhere to policies and to emphasise that mandates could change publishing behaviour towards open access. They were also more likely to agree posting preprints has a positive impact. Respondents from the Global South and the Global North emphasised the importance of peer-reviewed research for career advancement. Originality: The study has identified a wide range of experiences with and attitudes towards posting preprints among researchers in the Global South and the Global North. To our knowledge, this has hardly been studied before, which is also because preprints only have emerged lately in many disciplines and countries.

The biological roles of gene sets are used to group them into collections. These collections are often characterized by being high-dimensional, overlapping, and redundant families of sets, thus precluding a straightforward interpretation and study of their content. Bioinformatics looked for solutions to reduce their dimension or increase their intepretability. One possibility lies in aggregating overlapping gene sets to create larger pathways, but the modified biological pathways are hardly biologically justifiable. We propose to use importance scores to rank the pathways in the collections studying the context from a set covering perspective. The proposed Shapley values-based scores consider the distribution of the singletons and the size of the sets in the families; Furthermore, a trick allows us to circumvent the usual exponential complexity of Shapley values' computation. Finally, we address the challenge of including a redundancy awareness in the obtained rankings where, in our case, sets are redundant if they show prominent intersections. The rankings can be used to reduce the dimension of collections of gene sets, such that they show lower redundancy and still a high coverage of the genes. We further investigate the impact of our selection on Gene Sets Enrichment Analysis. The proposed method shows a practical utility in bioinformatics to increase the interpretability of the collections of gene sets and a step forward to include redundancy into Shapley values computations., Comment: arXiv admin note: substantial text overlap with arXiv:2207.12184

This demo paper presents UnScientify, an interactive system designed to detect scientific uncertainty in scholarly full text. The system utilizes a weakly supervised technique that employs a fine-grained annotation scheme to identify verbally formulated uncertainty at the sentence level in scientific texts. The pipeline for the system includes a combination of pattern matching, complex sentence checking, and authorial reference checking. Our approach automates labeling and annotation tasks for scientific uncertainty identification, taking into account different types of scientific uncertainty, that can serve various applications such as information retrieval, text mining, and scholarly document processing. Additionally, UnScientify provides interpretable results, aiding in the comprehension of identified instances of scientific uncertainty in text., Comment: Paper accepted for the Joint Workshop of the 4th Extraction and Evaluation of Knowledge Entities from Scientific Documents and the 3rd AI + Informetrics (EEKE-AII2023), June 26, 2023, Santa Fe, New Mexico, USA and Online

Acknowledgments in scientific papers may give an insight into aspects of the scientific community, such as reward systems, collaboration patterns, and hidden research trends. The aim of the paper is to evaluate the performance of different embedding models for the task of automatic extraction and classification of acknowledged entities from the acknowledgment text in scientific papers. We trained and implemented a named entity recognition (NER) task using the Flair NLP framework. The training was conducted using three default Flair NER models with four differently-sized corpora and different versions of the Flair NLP framework. The Flair Embeddings model trained on the medium corpus with the latest FLAIR version showed the best accuracy of 0.79. Expanding the size of a training corpus from very small to medium size massively increased the accuracy of all training algorithms, but further expansion of the training corpus did not bring further improvement. Moreover, the performance of the model slightly deteriorated. Our model is able to recognize six entity types: funding agency, grant number, individuals, university, corporation, and miscellaneous. The model works more precisely for some entity types than for others; thus, individuals and grant numbers showed a very good F1-Score over 0.9. Most of the previous works on acknowledgment analysis were limited by the manual evaluation of data and therefore by the amount of processed data. This model can be applied for the comprehensive analysis of acknowledgment texts and may potentially make a great contribution to the field of automated acknowledgment analysis., Comment: The present paper is an extended version of the article Evaluation of Embedding Models for Automatic Extraction and Classification of Acknowledged Entities in Scientific Documents (Smirnova and Mayr, 2022) presented at the 3rd Workshop on Extraction and Evaluation of Knowledge Entities from Scientific Documents (EEKE2022). arXiv admin note: substantial text overlap with arXiv:2206.10939

Hyperbox-based classification has been seen as a promising technique in which decisions on the data are represented as a series of orthogonal, multidimensional boxes (i.e., hyperboxes) that are often interpretable and human-readable. However, existing methods are no longer capable of efficiently handling the increasing volume of data many application domains face nowadays. We address this gap by proposing a novel, fully differentiable framework for hyperbox-based classification via neural networks. In contrast to previous work, our hyperbox models can be efficiently trained in an end-to-end fashion, which leads to significantly reduced training times and superior classification results., Comment: 6 pages, accepted for poster presentation at ESANN 2023

We consider simple stochastic games $\mathcal G$ with energy-parity objectives, a combination of quantitative rewards with a qualitative parity condition. The Maximizer tries to avoid running out of energy while simultaneously satisfying a parity condition. We present an algorithm to approximate the value of a given configuration in 2-NEXPTIME. Moreover, $\varepsilon$-optimal strategies for either player require at most $O(2EXP(|{\mathcal G}|)\cdot\log(\frac{1}{\varepsilon}))$ memory modes., Comment: Full version of a paper presented at MFCS 2023

Clonoids are sets of finitary functions from an algebra $\mathbb{A}$ to an algebra $\mathbb{B}$ that are closed under composition with term functions of $\mathbb{A}$ on the domain side and with term functions of $\mathbb{B}$ on the codomain side. For $\mathbb{A},\mathbb{B}$ (polynomially equivalent to) finite modules we show: If $\mathbb{A},\mathbb{B}$ have coprime order and the congruence lattice of $\mathbb{A}$ is distributive, then there are only finitely many clonoids from $\mathbb{A}$ to $\mathbb{B}$. This is proved by establishing for every natural number $k$ a particular linear equation that all $k$-ary functions from $\mathbb{A}$ to $\mathbb{B}$ satisfy. Else if $\mathbb{A},\mathbb{B}$ do not have coprime order, then there exist infinite ascending chains of clonoids from $\mathbb{A}$ to $\mathbb{B}$ ordered by inclusion. Consequently any extension of $\mathbb{A}$ by $\mathbb{B}$ has countably infinitely many $2$-nilpotent expansions up to term equivalence.

The need for autonomous robot systems in both the service and the industrial domain is larger than ever. In the latter, the transition to small batches or even "batch size 1" in production created a need for robot control system architectures that can provide the required flexibility. Such architectures must not only have a sufficient knowledge integration framework. It must also support autonomous mission execution and allow for interchangeability and interoperability between different tasks and robot systems. We introduce SkiROS2, a skill-based robot control platform on top of ROS. SkiROS2 proposes a layered, hybrid control structure for automated task planning, and reactive execution, supported by a knowledge base for reasoning about the world state and entities. The scheduling formulation builds on the extended behavior tree model that merges task-level planning and execution. This allows for a high degree of modularity and a fast reaction to changes in the environment. The skill formulation based on pre-, hold- and post-conditions allows to organize robot programs and to compose diverse skills reaching from perception to low-level control and the incorporation of external tools. We relate SkiROS2 to the field and outline three example use cases that cover task planning, reasoning, multisensory input, integration in a manufacturing execution system and reinforcement learning., Comment: 8 pages, 3 figures. Accepted at 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)