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Performing an inspection task while maintaining the privacy of the inspected site is a challenging balancing act. In this work, we are motivated by the future of nuclear arms control verification, which requires both a high level of privacy and guaranteed correctness. For scenarios with limitations on sensors and stored information due to the potentially secret nature of observable features, we propose a robotic verification procedure that provides map-free exploration to perform a source verification task without requiring, nor revealing, any task-irrelevant, site-specific information. We provide theoretical guarantees on the privacy and correctness of our approach, validated by extensive simulated and hardware experiments., Comment: 10 pages, 6 figures, in submission

We approach the fundamental problem of obstacle avoidance for robotic systems via the lens of online learning. In contrast to prior work that either assumes worst-case realizations of uncertainty in the environment or a stationary stochastic model of uncertainty, we propose a method that is efficient to implement and provably grants instance-optimality with respect to perturbations of trajectories generated from an open-loop planner (in the sense of minimizing worst-case regret). The resulting policy adapts online to realizations of uncertainty and provably compares well with the best obstacle avoidance policy in hindsight from a rich class of policies. The method is validated in simulation on a dynamical system environment and compared to baseline open-loop planning and robust Hamilton- Jacobi reachability techniques. Further, it is implemented on a hardware example where a quadruped robot traverses a dense obstacle field and encounters input disturbances due to time delays, model uncertainty, and dynamics nonlinearities., Comment: 8 + 21 pages, 2 + 11 figures, Accepted to CoRL 2023 [Poster]

Unmanned aerial vehicles (UAVs) are finding use in applications that place increasing emphasis on robustness to external disturbances including extreme wind. However, traditional multirotor UAV platforms do not directly sense wind; conventional flow sensors are too slow, insensitive, or bulky for widespread integration on UAVs. Instead, drones typically observe the effects of wind indirectly through accumulated errors in position or trajectory tracking. In this work, we integrate a novel flow sensor based on micro-electro-mechanical systems (MEMS) hot-wire technology developed in our prior work onto a multirotor UAV for wind estimation. These sensors are omnidirectional, lightweight, fast, and accurate. In order to achieve superior tracking performance in windy conditions, we train a `wind-aware' residual-based controller via reinforcement learning using simulated wind gusts and their aerodynamic effects on the drone. In extensive hardware experiments, we demonstrate the wind-aware controller outperforming two strong `wind-unaware' baseline controllers in challenging windy conditions. See: https://youtu.be/KWqkH9Z-338., Comment: Submitted to ICRA 2023. See supplementary video at https://youtu.be/KWqkH9Z-338

Due to limitations in available sensor technology, unmanned aerial vehicles (UAVs) lack an active sensing capability to measure turbulence, gusts, or other unsteady aerodynamic phenomena. Conventional in situ anemometry techniques fail to deliver in the harsh and dynamic multirotor environment due to form factor, resolution, or robustness requirements. To address this capability gap, a novel, fast-response sensor system to measure a wind vector in two dimensions is introduced and evaluated. This system, known as `MAST' (for MEMS Anemometry Sensing Tower), leverages advances in microelectromechanical (MEMS) hot-wire devices to produce a solid-state, lightweight, and robust flow sensor suitable for real-time wind estimation onboard a UAV. The MAST uses five pentagonally-arranged microscale hot-wires to determine the wind vector's direction and magnitude. The MAST's performance was evaluated in a wind tunnel at speeds up to 5~m/s and orientations of 0 - 360 degrees. A neural network sensor model was trained from the wind tunnel data to estimate the wind vector from sensor signals. The average error of the sensor is 0.14 m/s for speed and 1.6 degrees for direction. Furthermore, 95% of measurements are within 0.36 m/s error for speed and 5.0 degree error for direction. With a bandwidth of 570 Hz determined from square-wave testing, the MAST stands to greatly enhance UAV wind estimation capabilities and enable capturing relevant high-frequency phenomena in flow conditions., Comment: 23 pages, 11+2 figures, under review

We are motivated by the problem of performing failure prediction for safety-critical robotic systems with high-dimensional sensor observations (e.g., vision). Given access to a black-box control policy (e.g., in the form of a neural network) and a dataset of training environments, we present an approach for synthesizing a failure predictor with guaranteed bounds on false-positive and false-negative errors. In order to achieve this, we utilize techniques from Probably Approximately Correct (PAC)-Bayes generalization theory. In addition, we present novel class-conditional bounds that allow us to trade-off the relative rates of false-positive vs. false-negative errors. We propose algorithms that train failure predictors (that take as input the history of sensor observations) by minimizing our theoretical error bounds. We demonstrate the resulting approach using extensive simulation and hardware experiments for vision-based navigation with a drone and grasping objects with a robotic manipulator equipped with a wrist-mounted RGB-D camera. These experiments illustrate the ability of our approach to (1) provide strong bounds on failure prediction error rates (that closely match empirical error rates), and (2) improve safety by predicting failures.

We consider the problem of generating maximally adversarial disturbances for a given controller assuming only blackbox access to it. We propose an online learning approach to this problem that \emph{adaptively} generates disturbances based on control inputs chosen by the controller. The goal of the disturbance generator is to minimize \emph{regret} versus a benchmark disturbance-generating policy class, i.e., to maximize the cost incurred by the controller as well as possible compared to the best possible disturbance generator \emph{in hindsight} (chosen from a benchmark policy class). In the setting where the dynamics are linear and the costs are quadratic, we formulate our problem as an online trust region (OTR) problem with memory and present a new online learning algorithm (\emph{MOTR}) for this problem. We prove that this method competes with the best disturbance generator in hindsight (chosen from a rich class of benchmark policies that includes linear-dynamical disturbance generating policies). We demonstrate our approach on two simulated examples: (i) synthetically generated linear systems, and (ii) generating wind disturbances for the popular PX4 controller in the AirSim simulator. On these examples, we demonstrate that our approach outperforms several baseline approaches, including $H_{\infty}$ disturbance generation and gradient-based methods.

A thorough understanding of native oxides is essential for designing semiconductor devices. Here we report a study of the rate and mechanisms of spontaneous oxidation of bulk single crystals of ZrS$_x$Se$_{2-x}$ alloys and MoS$_2$. ZrS$_x$Se$_{2-x}$ alloys oxidize rapidly, and the oxidation rate increases with Se content. Oxidation of basal surfaces is initiated by favorable O$_2$ adsorption and proceeds by a mechanism of Zr-O bond switching, that collapses the van der Waals gaps, and is facilitated by progressive redox transitions of the chalcogen. The rate-limiting process is the formation and out-diffusion of SO$_2$. In contrast, MoS$_2$ basal surfaces are stable due to unfavorable oxygen adsorption. Our results provide insight and quantitative guidance for designing and processing semiconductor devices based on ZrS$_x$Se$_{2-x}$ and MoS$_2$, and identify the atomistic-scale mechanisms of bonding and phase transformations in layered materials with competing anions.

Following the success of the 1st, 2nd, 3rd, 4th and 5th CHiME challenges we organize the 6th CHiME Speech Separation and Recognition Challenge (CHiME-6). The new challenge revisits the previous CHiME-5 challenge and further considers the problem of distant multi-microphone conversational speech diarization and recognition in everyday home environments. Speech material is the same as the previous CHiME-5 recordings except for accurate array synchronization. The material was elicited using a dinner party scenario with efforts taken to capture data that is representative of natural conversational speech. This paper provides a baseline description of the CHiME-6 challenge for both segmented multispeaker speech recognition (Track 1) and unsegmented multispeaker speech recognition (Track 2). Of note, Track 2 is the first challenge activity in the community to tackle an unsegmented multispeaker speech recognition scenario with a complete set of reproducible open source baselines providing speech enhancement, speaker diarization, and speech recognition modules.

Deep neural network based speaker embeddings, such as x-vectors, have been shown to perform well in text-independent speaker recognition/verification tasks. In this paper, we use simple classifiers to investigate the contents encoded by x-vector embeddings. We probe these embeddings for information related to the speaker, channel, transcription (sentence, words, phones), and meta information about the utterance (duration and augmentation type), and compare these with the information encoded by i-vectors across a varying number of dimensions. We also study the effect of data augmentation during extractor training on the information captured by x-vectors. Experiments on the RedDots data set show that x-vectors capture spoken content and channel-related information, while performing well on speaker verification tasks., Comment: Accepted at IEEE Workshop on Automatic Speech Recognition and Understanding (ASRU) 2019