One of today's goals for industrial robot systems is to allow fast and easy provisioning for new tasks. Skill-based systems that use planning and knowledge representation have long been one possible answer to this. However, especially with contact-rich robot tasks that need careful parameter settings, such reasoning techniques can fall short if the required knowledge not adequately modeled. We show an approach that provides a combination of task-level planning and reasoning with targeted learning of skill parameters for a task at hand. Starting from a task goal formulated in PDDL, the learnable parameters in the plan are identified and an operator can choose reward functions and parameters for the learning process. A tight integration with a knowledge framework allows to form a prior for learning and the usage of multi-objective Bayesian optimization eases to balance aspects such as safety and task performance that can often affect each other. We demonstrate the efficacy and versatility of our approach by learning skill parameters for two different contact-rich tasks and show their successful execution on a real 7-DOF KUKA-iiwa.

机器人技能系统旨在减少机器人设置时间的新制造任务。但是，对于灵巧，接触术的任务，通常很难找到正确的技能参数。一种策略是通过允许机器人系统直接学习任务来学习这些参数。对于学习问题，机器人操作员通常可以指定参数值的类型和范围。然而，鉴于他们先前的经验，机器人操作员应该能够通过提供有关在参数空间中找到最佳解决方案的知识猜测，从而进一步帮助学习过程。有趣的是，当前的机器人学习框架中没有利用这种先验知识。我们介绍了一种结合用户先验和贝叶斯优化的方法，以便在机器人部署时间快速优化机器人工业任务。我们在模拟中学习的三个任务以及直接在真实机器人系统上学习的两个任务中学习了我们的方法。此外，我们通过自动从良好表现的配置中自动构造先验来从相应的仿真任务中转移知识，以在真实系统上学习。为了处理潜在的任务目标，任务被建模为多目标问题。我们的结果表明，操作员的先验是用户指定和转移的，大大加快了富丽堂皇的阵线的发现，并且通常产生的最终性能远远超过了拟议的基线。

增强学习（RL）是一个强大的数学框架，可让机器人通过反复试验学习复杂的技能。尽管在许多应用中取得了许多成功，但RL算法仍然需要数千个试验才能融合到高性能的政策，可以在学习时产生危险的行为，并且优化的政策（通常为神经网络建模）几乎可以在无法执行的解释时给出零的解释。任务。由于这些原因，在工业环境中采用RL并不常见。另一方面，行为树（BTS）可以提供一个策略表示，a）支持模块化和可综合的技能，b）允许轻松解释机器人动作，c）提供了有利的低维参数空间。在本文中，我们提出了一种新颖的算法，该算法可以学习模拟中BT策略的参数，然后在没有任何其他培训的情况下将其推广到物理机器人。我们利用了使用数字化工作站的物理模拟器，并使用黑盒优化器优化相关参数。我们在包括避免障碍物和富含接触的插入（孔洞）的任务中，通过7道型kuka-iiwa操纵器展示了我们方法的功效，其中我们的方法优于基准。

Differentiable Architecture Search (DARTS) has attracted considerable attention as a gradient-based Neural Architecture Search (NAS) method. Since the introduction of DARTS, there has been little work done on adapting the action space based on state-of-art architecture design principles for CNNs. In this work, we aim to address this gap by incrementally augmenting the DARTS search space with micro-design changes inspired by ConvNeXt and studying the trade-off between accuracy, evaluation layer count, and computational cost. To this end, we introduce the Pseudo-Inverted Bottleneck conv block intending to reduce the computational footprint of the inverted bottleneck block proposed in ConvNeXt. Our proposed architecture is much less sensitive to evaluation layer count and outperforms a DARTS network with similar size significantly, at layer counts as small as 2. Furthermore, with less layers, not only does it achieve higher accuracy with lower GMACs and parameter count, GradCAM comparisons show that our network is able to better detect distinctive features of target objects compared to DARTS.

This paper deals with the problem of statistical and system heterogeneity in a cross-silo Federated Learning (FL) framework where there exist a limited number of Consumer Internet of Things (CIoT) devices in a smart building. We propose a novel Graph Signal Processing (GSP)-inspired aggregation rule based on graph filtering dubbed ``G-Fedfilt''. The proposed aggregator enables a structured flow of information based on the graph's topology. This behavior allows capturing the interconnection of CIoT devices and training domain-specific models. The embedded graph filter is equipped with a tunable parameter which enables a continuous trade-off between domain-agnostic and domain-specific FL. In the case of domain-agnostic, it forces G-Fedfilt to act similar to the conventional Federated Averaging (FedAvg) aggregation rule. The proposed G-Fedfilt also enables an intrinsic smooth clustering based on the graph connectivity without explicitly specified which further boosts the personalization of the models in the framework. In addition, the proposed scheme enjoys a communication-efficient time-scheduling to alleviate the system heterogeneity. This is accomplished by adaptively adjusting the amount of training data samples and sparsity of the models' gradients to reduce communication desynchronization and latency. Simulation results show that the proposed G-Fedfilt achieves up to $3.99\% $ better classification accuracy than the conventional FedAvg when concerning model personalization on the statistically heterogeneous local datasets, while it is capable of yielding up to $2.41\%$ higher accuracy than FedAvg in the case of testing the generalization of the models.

Mapping the seafloor with underwater imaging cameras is of significant importance for various applications including marine engineering, geology, geomorphology, archaeology and biology. For shallow waters, among the underwater imaging challenges, caustics i.e., the complex physical phenomena resulting from the projection of light rays being refracted by the wavy surface, is likely the most crucial one. Caustics is the main factor during underwater imaging campaigns that massively degrade image quality and affect severely any 2D mosaicking or 3D reconstruction of the seabed. In this work, we propose a novel method for correcting the radiometric effects of caustics on shallow underwater imagery. Contrary to the state-of-the-art, the developed method can handle seabed and riverbed of any anaglyph, correcting the images using real pixel information, thus, improving image matching and 3D reconstruction processes. In particular, the developed method employs deep learning architectures in order to classify image pixels to "non-caustics" and "caustics". Then, exploits the 3D geometry of the scene to achieve a pixel-wise correction, by transferring appropriate color values between the overlapping underwater images. Moreover, to fill the current gap, we have collected, annotated and structured a real-world caustic dataset, namely R-CAUSTIC, which is openly available. Overall, based on the experimental results and validation the developed methodology is quite promising in both detecting caustics and reconstructing their intensity.

360-degree panoramic videos have gained considerable attention in recent years due to the rapid development of head-mounted displays (HMDs) and panoramic cameras. One major problem in streaming panoramic videos is that panoramic videos are much larger in size compared to traditional ones. Moreover, the user devices are often in a wireless environment, with limited battery, computation power, and bandwidth. To reduce resource consumption, researchers have proposed ways to predict the users' viewports so that only part of the entire video needs to be transmitted from the server. However, the robustness of such prediction approaches has been overlooked in the literature: it is usually assumed that only a few models, pre-trained on past users' experiences, are applied for prediction to all users. We observe that those pre-trained models can perform poorly for some users because they might have drastically different behaviors from the majority, and the pre-trained models cannot capture the features in unseen videos. In this work, we propose a novel meta learning based viewport prediction paradigm to alleviate the worst prediction performance and ensure the robustness of viewport prediction. This paradigm uses two machine learning models, where the first model predicts the viewing direction, and the second model predicts the minimum video prefetch size that can include the actual viewport. We first train two meta models so that they are sensitive to new training data, and then quickly adapt them to users while they are watching the videos. Evaluation results reveal that the meta models can adapt quickly to each user, and can significantly increase the prediction accuracy, especially for the worst-performing predictions.

Background samples provide key contextual information for segmenting regions of interest (ROIs). However, they always cover a diverse set of structures, causing difficulties for the segmentation model to learn good decision boundaries with high sensitivity and precision. The issue concerns the highly heterogeneous nature of the background class, resulting in multi-modal distributions. Empirically, we find that neural networks trained with heterogeneous background struggle to map the corresponding contextual samples to compact clusters in feature space. As a result, the distribution over background logit activations may shift across the decision boundary, leading to systematic over-segmentation across different datasets and tasks. In this study, we propose context label learning (CoLab) to improve the context representations by decomposing the background class into several subclasses. Specifically, we train an auxiliary network as a task generator, along with the primary segmentation model, to automatically generate context labels that positively affect the ROI segmentation accuracy. Extensive experiments are conducted on several challenging segmentation tasks and datasets. The results demonstrate that CoLab can guide the segmentation model to map the logits of background samples away from the decision boundary, resulting in significantly improved segmentation accuracy. Code is available.

Reinforcement learning (RL) gained considerable attention by creating decision-making agents that maximize rewards received from fully observable environments. However, many real-world problems are partially or noisily observable by nature, where agents do not receive the true and complete state of the environment. Such problems are formulated as partially observable Markov decision processes (POMDPs). Some studies applied RL to POMDPs by recalling previous decisions and observations or inferring the true state of the environment from received observations. Nevertheless, aggregating observations and decisions over time is impractical for environments with high-dimensional continuous state and action spaces. Moreover, so-called inference-based RL approaches require large number of samples to perform well since agents eschew uncertainty in the inferred state for the decision-making. Active inference is a framework that is naturally formulated in POMDPs and directs agents to select decisions by minimising expected free energy (EFE). This supplies reward-maximising (exploitative) behaviour in RL, with an information-seeking (exploratory) behaviour. Despite this exploratory behaviour of active inference, its usage is limited to discrete state and action spaces due to the computational difficulty of the EFE. We propose a unified principle for joint information-seeking and reward maximization that clarifies a theoretical connection between active inference and RL, unifies active inference and RL, and overcomes their aforementioned limitations. Our findings are supported by strong theoretical analysis. The proposed framework's superior exploration property is also validated by experimental results on partial observable tasks with high-dimensional continuous state and action spaces. Moreover, the results show that our model solves reward-free problems, making task reward design optional.

Structural Health Monitoring (SHM) describes a process for inferring quantifiable metrics of structural condition, which can serve as input to support decisions on the operation and maintenance of infrastructure assets. Given the long lifespan of critical structures, this problem can be cast as a sequential decision making problem over prescribed horizons. Partially Observable Markov Decision Processes (POMDPs) offer a formal framework to solve the underlying optimal planning task. However, two issues can undermine the POMDP solutions. Firstly, the need for a model that can adequately describe the evolution of the structural condition under deterioration or corrective actions and, secondly, the non-trivial task of recovery of the observation process parameters from available monitoring data. Despite these potential challenges, the adopted POMDP models do not typically account for uncertainty on model parameters, leading to solutions which can be unrealistically confident. In this work, we address both key issues. We present a framework to estimate POMDP transition and observation model parameters directly from available data, via Markov Chain Monte Carlo (MCMC) sampling of a Hidden Markov Model (HMM) conditioned on actions. The MCMC inference estimates distributions of the involved model parameters. We then form and solve the POMDP problem by exploiting the inferred distributions, to derive solutions that are robust to model uncertainty. We successfully apply our approach on maintenance planning for railway track assets on the basis of a "fractal value" indicator, which is computed from actual railway monitoring data.