Search

Autonomous under-canopy navigation faces additional challenges compared to over-canopy settings - for example the tight spacing between the crop rows, degraded GPS accuracy and excessive clutter. Keypoint-based visual navigation has been shown to perform well in these conditions, however the differences between agricultural environments in terms of lighting, season, soil and crop type mean that a domain shift will likely be encountered at some point of the robot deployment. In this paper, we explore the use of Meta-Learning to overcome this domain shift using a minimal amount of data. We train a base-learner that can quickly adapt to new conditions, enabling more robust navigation in low-data regimes.

Small robots that can operate under the plant canopy can enable new possibilities in agriculture. However, unlike larger autonomous tractors, autonomous navigation for such under canopy robots remains an open challenge because Global Navigation Satellite System (GNSS) is unreliable under the plant canopy. We present a hybrid navigation system that autonomously switches between different sets of sensing modalities to enable full field navigation, both inside and outside of crop. By choosing the appropriate path reference source, the robot can accommodate for loss of GNSS signal quality and leverage row-crop structure to autonomously navigate. However, such switching can be tricky and difficult to execute over scale. Our system provides a solution by automatically switching between an exteroceptive sensing based system, such as Light Detection And Ranging (LiDAR) row-following navigation and waypoints path tracking. In addition, we show how our system can detect when the navigate fails and recover automatically extending the autonomous time and mitigating the necessity of human intervention. Our system shows an improvement of about 750 m per intervention over GNSS-based navigation and 500 m over row following navigation., Comment: Presented in the 2023 IEEE International Conference on Robotics and Automation (ICRA)

Centralized learning requires data to be aggregated at a central server, which poses significant challenges in terms of data privacy and bandwidth consumption. Federated learning presents a compelling alternative, however, vanilla federated learning methods deployed in robotics aim to learn a single global model across robots that works ideally for all. But in practice one model may not be well suited for robots deployed in various environments. This paper proposes Federated-EmbedCluster (Fed-EC), a clustering-based federated learning framework that is deployed with vision based autonomous robot navigation in diverse outdoor environments. The framework addresses the key federated learning challenge of deteriorating model performance of a single global model due to the presence of non-IID data across real-world robots. Extensive real-world experiments validate that Fed-EC reduces the communication size by 23x for each robot while matching the performance of centralized learning for goal-oriented navigation and outperforms local learning. Fed-EC can transfer previously learnt models to new robots that join the cluster.

Under-canopy agricultural robots can enable various applications like precise monitoring, spraying, weeding, and plant manipulation tasks throughout the growing season. Autonomous navigation under the canopy is challenging due to the degradation in accuracy of RTK-GPS and the large variability in the visual appearance of the scene over time. In prior work, we developed a supervised learning-based perception system with semantic keypoint representation and deployed this in various field conditions. A large number of failures of this system can be attributed to the inability of the perception model to adapt to the domain shift encountered during deployment. In this paper, we propose a self-supervised online adaptation method for adapting the semantic keypoint representation using a visual foundational model, geometric prior, and pseudo labeling. Our preliminary experiments show that with minimal data and fine-tuning of parameters, the keypoint prediction model trained with labels on the source domain can be adapted in a self-supervised manner to various challenging target domains onboard the robot computer using our method. This can enable fully autonomous row-following capability in under-canopy robots across fields and crops without requiring human intervention.

Gravitationally strongly lensed quasars (SL-QSO) offer invaluable insights into cosmological and astrophysical phenomena. With the data from ongoing and next-generation surveys, thousands of SL-QSO systems can be discovered expectedly, leading to unprecedented opportunities. However, the challenge lies in identifying SL-QSO from enormous datasets with high recall and purity in an automated and efficient manner. Hence, we developed a program based on a Convolutional Neural Network (CNN) for finding SL-QSO from large-scale surveys and applied it to the Kilo-degree Survey Data Release 5 (KiDS DR5). Our approach involves three key stages: firstly, we pre-selected ten million bright objects (with $r$-band $\tt{MAG\_AUTO} < 22$), excluding stars from the dataset; secondly, we established realistic training and test sets to train and fine-tune the CNN, resulting in the identification of 4195 machine candidates, and the false positive rate (FPR) of $\sim$1/2000 and recall of 0.8125 evaluated by using the real test set containing 16 confirmed lensed quasars; thirdly, human inspections were performed for further selections, and then 272 SL-QSO candidates were eventually found in total, including 16 high-score, 118 median-score, and 138 lower-score candidates, separately. Removing the systems already confirmed or identified in other papers, we end up with 229 SL-QSO candidates, including 7 high-score, 95 median-score, and 127 lower-score candidates, and the corresponding catalog is publicly available online., Comment: 11 Figures, 4 Tables. Submitted to ApJ. Comments Welcome!

A neural network-based framework is developed and experimentally demonstrated for the problem of estimating the shape of a soft continuum arm (SCA) from noisy measurements of the pose at a finite number of locations along the length of the arm. The neural network takes as input these measurements and produces as output a finite-dimensional approximation of the strain, which is further used to reconstruct the infinite-dimensional smooth posture. This problem is important for various soft robotic applications. It is challenging due to the flexible aspects that lead to the infinite-dimensional reconstruction problem for the continuous posture and strains. Because of this, past solutions to this problem are computationally intensive. The proposed fast smooth reconstruction method is shown to be five orders of magnitude faster while having comparable accuracy. The framework is evaluated on two testbeds: a simulated octopus muscular arm and a physical BR2 pneumatic soft manipulator., Comment: 6 pages + reference, 5 figures, submitted to ICRA 2025

We consider robust optimal experimental design (ROED) for nonlinear Bayesian inverse problems governed by partial differential equations (PDEs). An optimal design is one that maximizes some utility quantifying the quality of the solution of an inverse problem. However, the optimal design is dependent on elements of the inverse problem such as the simulation model, the prior, or the measurement error model. ROED aims to produce an optimal design that is aware of the additional uncertainties encoded in the inverse problem and remains optimal even after variations in them. We follow a worst-case scenario approach to develop a new framework for robust optimal design of nonlinear Bayesian inverse problems. The proposed framework a) is scalable and designed for infinite-dimensional Bayesian nonlinear inverse problems constrained by PDEs; b) develops efficient approximations of the utility, namely, the expected information gain; c) employs eigenvalue sensitivity techniques to develop analytical forms and efficient evaluation methods of the gradient of the utility with respect to the uncertainties we wish to be robust against; and d) employs a probabilistic optimization paradigm that properly defines and efficiently solves the resulting combinatorial max-min optimization problem. The effectiveness of the proposed approach is illustrated for optimal sensor placement problem in an inverse problem governed by an elliptic PDE., Comment: 25 pages, 4 figures

In visual Reinforcement Learning (RL), learning from pixel-based observations poses significant challenges on sample efficiency, primarily due to the complexity of extracting informative state representations from high-dimensional data. Previous methods such as contrastive-based approaches have made strides in improving sample efficiency but fall short in modeling the nuanced evolution of states. To address this, we introduce MOOSS, a novel framework that leverages a temporal contrastive objective with the help of graph-based spatial-temporal masking to explicitly model state evolution in visual RL. Specifically, we propose a self-supervised dual-component strategy that integrates (1) a graph construction of pixel-based observations for spatial-temporal masking, coupled with (2) a multi-level contrastive learning mechanism that enriches state representations by emphasizing temporal continuity and change of states. MOOSS advances the understanding of state dynamics by disrupting and learning from spatial-temporal correlations, which facilitates policy learning. Our comprehensive evaluation on multiple continuous and discrete control benchmarks shows that MOOSS outperforms previous state-of-the-art visual RL methods in terms of sample efficiency, demonstrating the effectiveness of our method. Our code is released at https://github.com/jsun57/MOOSS., Comment: WACV 2025

Under-canopy agricultural robots require robust navigation capabilities to enable full autonomy but struggle with tight row turning between crop rows due to degraded GPS reception, visual aliasing, occlusion, and complex vehicle dynamics. We propose an imitation learning approach using diffusion policies to learn row turning behaviors from demonstrations provided by human operators or privileged controllers. Simulation experiments in a corn field environment show potential in learning this task with only visual observations and velocity states. However, challenges remain in maintaining control within rows and handling varied initial conditions, highlighting areas for future improvement., Comment: Accepted as Extended Abstract to the IEEE ICRA@40 2024

Tracking plant features is crucial for various agricultural tasks like phenotyping, pruning, or harvesting, but the unstructured, cluttered, and deformable nature of plant environments makes it a challenging task. In this context, the recent advancements in foundational models show promise in addressing this challenge. In our work, we propose PlantTrack where we utilize DINOv2 which provides high-dimensional features, and train a keypoint heatmap predictor network to identify the locations of semantic features such as fruits and leaves which are then used as prompts for point tracking across video frames using TAPIR. We show that with as few as 20 synthetic images for training the keypoint predictor, we achieve zero-shot Sim2Real transfer, enabling effective tracking of plant features in real environments.

Teams are the fundamental units propelling innovation and advancing modern science. A rich literature links the fundamental features of teams, such as their size and diversity, to academic success. However, such analyses fail to capture temporal patterns, treating each group of co-authors as a distinct unit and neglecting the existence of persistent collaborations. By contrast, teams are dynamical entities, made of core members who consistently work together, surrounded by transient members who sporadically participate. Leveraging on a large dataset of over 205 million scientific papers published since 1900, we extract 511,550 core teams of statistically significant persistent collaborations of pairs and larger groups of scientists. We look into `team careers' investigating their trajectories in time, characterizing their formation, productivity and eventual dissolution. We characterize team composition along multiple dimensions, including age, academic affiliation and scientific disciplines. Finally, we investigate the academic impact of persistent collaborations, hallmarking the key compositional features underlying their success. Our work sheds light on the nature of persistent teams, informing researchers, institutions and funding agencies about the dynamics of their formation, evolution and success., Comment: 18 pages, 13 figures

We study fairness in social influence maximization, whereby one seeks to select seeds that spread a given information throughout a network, ensuring balanced outreach among different communities (e.g. demographic groups). In the literature, fairness is often quantified in terms of the expected outreach within individual communities. In this paper, we demonstrate that such fairness metrics can be misleading since they overlook the stochastic nature of information diffusion processes. When information diffusion occurs in a probabilistic manner, multiple outreach scenarios can occur. As such, outcomes such as ``In 50\% of the cases, no one in group 1 gets the information, while everyone in group 2 does, and in the other 50%, it is the opposite'', which always results in largely unfair outcomes, are classified as fair by a variety of fairness metrics in the literature. We tackle this problem by designing a new fairness metric, mutual fairness, that captures variability in outreach through optimal transport theory. We propose a new seed-selection algorithm that optimizes both outreach and mutual fairness, and we show its efficacy on several real datasets. We find that our algorithm increases fairness with only a minor decrease (and at times, even an increase) in efficiency.

Successful deployment of mobile robots in unstructured domains requires an understanding of the environment and terrain to avoid hazardous areas, getting stuck, and colliding with obstacles. Traversability estimation--which predicts where in the environment a robot can travel--is one prominent approach that tackles this problem. Existing geometric methods may ignore important semantic considerations, while semantic segmentation approaches involve a tedious labeling process. Recent self-supervised methods reduce labeling tedium, but require additional data or models and tend to struggle to explicitly label untraversable areas. To address these limitations, we introduce a weakly-supervised method for relative traversability estimation. Our method involves manually annotating the relative traversability of a small number of point pairs, which significantly reduces labeling effort compared to traditional segmentation-based methods and avoids the limitations of self-supervised methods. We further improve the performance of our method through a novel cross-image labeling strategy and loss function. We demonstrate the viability and performance of our method through deployment on a mobile robot in outdoor environments., Comment: Accepted by RA-L. Code is available at https://github.com/andreschreiber/W-RIZZ

As the demand for food surges and the agricultural sector undergoes a transformative shift towards sustainability and efficiency, the need for precise and proactive measures to ensure the health and welfare of livestock becomes paramount. In the context of the broader agricultural landscape outlined, the application of Hyperspectral Imaging (HSI) takes on profound significance. HSI has emerged as a cutting-edge, non-destructive technique for fast and accurate egg quality analysis, including the detection of chick embryo mortality. However, the high cost and operational complexity compared to conventional RGB imaging are significant bottlenecks in the widespread adoption of HSI technology. To overcome these hurdles and unlock the full potential of HSI, a promising solution is hyperspectral image reconstruction from standard RGB images. This study aims to reconstruct hyperspectral images from RGB images for non-destructive early prediction of chick embryo mortality. Firstly, the performance of different image reconstruction algorithms, such as HRNET, MST++, Restormer, and EDSR were compared to reconstruct the hyperspectral images of the eggs in the early incubation period. Later, the reconstructed spectra were used to differentiate live from dead chick-producing eggs using the XGBoost and Random Forest classification methods. Among the reconstruction methods, HRNET showed impressive reconstruction performance with MRAE of 0.0955, RMSE of 0.0159, and PSNR of 36.79 dB. This study motivated that harnessing imaging technology integrated with smart sensors and data analytics has the potential to improve automation, enhance biosecurity, and optimize resource management towards sustainable agriculture 4.0., Comment: Under review

We present a vision-based navigation system for under-canopy agricultural robots using semantic keypoints. Autonomous under-canopy navigation is challenging due to the tight spacing between the crop rows ($\sim 0.75$ m), degradation in RTK-GPS accuracy due to multipath error, and noise in LiDAR measurements from the excessive clutter. Our system, CropFollow++, introduces modular and interpretable perception architecture with a learned semantic keypoint representation. We deployed CropFollow++ in multiple under-canopy cover crop planting robots on a large scale (25 km in total) in various field conditions and we discuss the key lessons learned from this., Comment: Accepted to the IEEE ICRA Workshop on Field Robotics 2024

The parallel and distributed processing are becoming de facto industry standard, and a large part of the current research is targeted on how to make computing scalable and distributed, dynamically, without allocating the resources on permanent basis. The present article focuses on the study and performance of distributed and parallel algorithms their file systems, to achieve scalability at local level (OpenMP platform), and at global level where computing and file systems are distributed. Various applications, algorithms,file systems have been used to demonstrate the areas, and their performance studies have been presented. The systems and applications chosen here are of open-source nature, due to their wider applicability., Comment: 8 pages, 5 figures

Open-world video instance segmentation is an important video understanding task. Yet most methods either operate in a closed-world setting, require an additional user-input, or use classic region-based proposals to identify never before seen objects. Further, these methods only assign a one-word label to detected objects, and don't generate rich object-centric descriptions. They also often suffer from highly overlapping predictions. To address these issues, we propose Open-World Video Instance Segmentation and Captioning (OW-VISCap), an approach to jointly segment, track, and caption previously seen or unseen objects in a video. For this, we introduce open-world object queries to discover never before seen objects without additional user-input. We generate rich and descriptive object-centric captions for each detected object via a masked attention augmented LLM input. We introduce an inter-query contrastive loss to ensure that the object queries differ from one another. Our generalized approach matches or surpasses state-of-the-art on three tasks: open-world video instance segmentation on the BURST dataset, dense video object captioning on the VidSTG dataset, and closed-world video instance segmentation on the OVIS dataset., Comment: Project page: https://anwesachoudhuri.github.io/OpenWorldVISCap/

Large-scale imaging surveys have grown about 1000 times faster than the number of astronomers in the last 3 decades. Using Artificial Intelligence instead of astronomer's brains for interpretative tasks allows astronomers to keep up with the data. We give a progress report on using Convolutional Neural Networks (CNNs) to classify three classes of rare objects (galaxy mergers, strong gravitational lenses and asteroids) in the Kilo-Degree Survey (KiDS) and the Euclid Survey., Comment: ADASS XXXII - 2022, Victoria, Conference Proceedings

Neural Machine Translation (NMT) continues to improve in quality and adoption, yet the inadvertent perpetuation of gender bias remains a significant concern. Despite numerous studies on gender bias in translations into English from weakly gendered-languages, there are no benchmarks for evaluating this phenomenon or for assessing mitigation strategies. To address this gap, we introduce GATE X-E, an extension to the GATE (Rarrick et al., 2023) corpus, that consists of human translations from Turkish, Hungarian, Finnish, and Persian into English. Each translation is accompanied by feminine, masculine, and neutral variants. The dataset, which contains between 1250 and 1850 instances for each of the four language pairs, features natural sentences with a wide range of sentence lengths and domains, challenging translation rewriters on various linguistic phenomena. Additionally, we present a translation gender rewriting solution built with GPT-4 and use GATE X-E to evaluate it. We open source our contributions to encourage further research on gender debiasing., Comment: arXiv admin note: substantial text overlap with arXiv:2311.08836

A vital aspect of Indian Classical Music (ICM) is Raga, which serves as a melodic framework for compositions and improvisations alike. Raga Recognition is an important music information retrieval task in ICM as it can aid numerous downstream applications ranging from music recommendations to organizing huge music collections. In this work, we propose a deep learning based approach to Raga recognition. Our approach employs efficient pre possessing and learns temporal sequences in music data using Long Short Term Memory based Recurrent Neural Networks (LSTM-RNN). We train and test the network on smaller sequences sampled from the original audio while the final inference is performed on the audio as a whole. Our method achieves an accuracy of 88.1% and 97 % during inference on the Comp Music Carnatic dataset and its 10 Raga subset respectively making it the state-of-the-art for the Raga recognition task. Our approach also enables sequence ranking which aids us in retrieving melodic patterns from a given music data base that are closely related to the presented query sequence.

Robotic harvesting has the potential to positively impact agricultural productivity, reduce costs, improve food quality, enhance sustainability, and to address labor shortage. In the rapidly advancing field of agricultural robotics, the necessity of training robots in a virtual environment has become essential. Generating training data to automatize the underlying computer vision tasks such as image segmentation, object detection and classification, also heavily relies on such virtual environments as synthetic data is often required to overcome the shortage and lack of variety of real data sets. However, physics engines commonly employed within the robotics community, such as ODE, Simbody, Bullet, and DART, primarily support motion and collision interaction of rigid bodies. This inherent limitation hinders experimentation and progress in handling non-rigid objects such as plants and crops. In this contribution, we present a plugin for the Gazebo simulation platform based on Cosserat rods to model plant motion. It enables the simulation of plants and their interaction with the environment. We demonstrate that, using our plugin, users can conduct harvesting simulations in Gazebo by simulating a robotic arm picking fruits and achieve results comparable to real-world experiments., Comment: Upon request, we are happy to share our GazeboPlants plugin open-source (MPL 2.0)

Accurate and robust navigation in unstructured environments requires fusing data from multiple sensors. Such fusion ensures that the robot is better aware of its surroundings, including areas of the environment that are not immediately visible but were visible at a different time. To solve this problem, we propose a method for traversability prediction in challenging outdoor environments using a sequence of RGB and depth images fused with pose estimations. Our method, termed WayFASTER (Waypoints-Free Autonomous System for Traversability with Enhanced Robustness), uses experience data recorded from a receding horizon estimator to train a self-supervised neural network for traversability prediction, eliminating the need for heuristics. Our experiments demonstrate that our method excels at avoiding obstacles, and correctly detects that traversable terrains, such as tall grass, can be navigable. By using a sequence of images, WayFASTER significantly enhances the robot's awareness of its surroundings, enabling it to predict the traversability of terrains that are not immediately visible. This enhanced awareness contributes to better navigation performance in environments where such predictive capabilities are essential., Comment: Accepted for the 2024 IEEE International Conference on Robotics and Automation (ICRA 2024)

Advancements in technology have recently allowed us to collect and analyse large-scale fine-grained data about human performance, drastically changing the way we approach sports. Here, we provide the first comprehensive analysis of individual and team performance in One-Day International cricket, one of the most popular sports in the world. We investigate temporal patterns of individual success by quantifying the location of the best performance of a player and find that they can happen at any time in their career, surrounded by a burst of comparable top performances. Our analysis shows that long-term performance can be predicted from early observations and that temporary exclusions of players from teams are often due to declining performances but are also associated with strong comebacks. By computing the duration of streaks of winning performances compared to random expectations, we demonstrate that teams win and lose matches consecutively. We define the contributions of specialists such as openers, all-rounders and wicket-keepers and show that a balanced performance from multiple individuals is required to ensure team success. Finally, we measure how transitioning to captaincy in the team improves the performance of batsmen, but not that of bowlers. Our work emphasizes how individual endeavours and team dynamics interconnect and influence collective outcomes in sports., Comment: 11 pages, 5 figures in main. Supplemental material with 9 figures

Machine Translation (MT) continues to improve in quality and adoption, yet the inadvertent perpetuation of gender bias remains a significant concern. Despite numerous studies into gender bias in translations from gender-neutral languages such as Turkish into more strongly gendered languages like English, there are no benchmarks for evaluating this phenomenon or for assessing mitigation strategies. To address this gap, we introduce GATE X-E, an extension to the GATE (Rarrick et al., 2023) corpus, that consists of human translations from Turkish, Hungarian, Finnish, and Persian into English. Each translation is accompanied by feminine, masculine, and neutral variants for each possible gender interpretation. The dataset, which contains between 1250 and 1850 instances for each of the four language pairs, features natural sentences with a wide range of sentence lengths and domains, challenging translation rewriters on various linguistic phenomena. Additionally, we present an English gender rewriting solution built on GPT-3.5 Turbo and use GATE X-E to evaluate it. We open source our contributions to encourage further research on gender debiasing.

Convolutional neural networks (CNNs) are the state-of-the-art technique for identifying strong gravitational lenses. Although they are highly successful in recovering genuine lens systems with a high true-positive rate, the unbalanced nature of the data set (lens systems are rare), still leads to a high false positive rate. For these techniques to be successful in upcoming surveys (e.g. with Euclid) most emphasis should be set on reducing false positives, rather than on reducing false negatives. In this paper, we introduce densely connected neural networks (DenseNets) as the CNN architecture in a new pipeline-ensemble model containing an ensemble of classification CNNs and regression CNNs to classify and rank-order lenses, respectively. We show that DenseNets achieve comparable true positive rates but considerably lower false positive rates (when compared to residual networks; ResNets). Thus, we recommend DenseNets for future missions involving large data sets, such as Euclid, where low false positive rates play a key role in the automated follow-up and analysis of large numbers of strong gravitational lens candidates when human vetting is no longer feasible

Arrival of multicore systems has enforced a new scenario in computing, the parallel and distributed algorithms are fast replacing the older sequential algorithms, with many challenges of these techniques. The distributed algorithms provide distributed processing using distributed file systems and processing units, while network is modeled as minimum cost spanning tree. On the other hand, the parallel processing chooses different language platforms, data parallel vs. parallel programming, and GPUs. Processing units, memory elements and storage are connected through dynamic distributed networks in the form of spanning trees. The article presents foundational algorithms, analysis, and efficiency considerations., Comment: 9 pages

In the recent progress in embodied navigation and sim-to-robot transfer, modular policies have emerged as a de facto framework. However, there is more to compositionality beyond the decomposition of the learning load into modular components. In this work, we investigate a principled way to syntactically combine these components. Particularly, we propose Exploitation-Guided Exploration (XGX) where separate modules for exploration and exploitation come together in a novel and intuitive manner. We configure the exploitation module to take over in the deterministic final steps of navigation i.e. when the goal becomes visible. Crucially, an exploitation module teacher-forces the exploration module and continues driving an overridden policy optimization. XGX, with effective decomposition and novel guidance, improves the state-of-the-art performance on the challenging object navigation task from 70% to 73%. Along with better accuracy, through targeted analysis, we show that XGX is also more efficient at goal-conditioned exploration. Finally, we show sim-to-real transfer to robot hardware and XGX performs over two-fold better than the best baseline from simulation benchmarking. Project page: xgxvisnav.github.io, Comment: Code and results available at http://xgxvisnav.github.io

We study the sensitivity of infinite-dimensional Bayesian linear inverse problems governed by partial differential equations (PDEs) with respect to modeling uncertainties. In particular, we consider derivative-based sensitivity analysis of the information gain, as measured by the Kullback-Leibler divergence from the posterior to the prior distribution. To facilitate this, we develop a fast and accurate method for computing derivatives of the information gain with respect to auxiliary model parameters. Our approach combines low-rank approximations, adjoint-based eigenvalue sensitivity analysis, and post-optimal sensitivity analysis. The proposed approach also paves way for global sensitivity analysis by computing derivative-based global sensitivity measures. We illustrate different aspects of the proposed approach using an inverse problem governed by a scalar linear elliptic PDE, and an inverse problem governed by the three-dimensional equations of linear elasticity, which is motivated by the inversion of the fault-slip field after an earthquake., Comment: 20 pages, 7 figures

Roll solutions at the zigzag boundary, typically selected by patterns and defects in numerical simulations, are shown to be nonlinearly stable. This result also serves as an example that linear decay weaker than the classical diffusive decay, together with quadratic nonlinearity, still gives nonlinear stability of spatially periodic patterns. Linear analysis reveals that, instead of the classical $t^{-1}$ diffusive decay rate, small perturbations of roll solutions at the zigzag boundary decay with a $t^{-3/4}$ rate along with time, due to the degeneracy of the quadratic term of the continuation of the translational mode of the linearized operator in the Bloch-Fourier spaces. The nonlinear stability proof is based on a decomposition of the neutral translational mode and the faster decaying modes in the Bloch-Fourier space, and a fixed-point argument, demonstrating the irrelevancy of the nonlinear terms., Comment: 41 pages, 1 figure