Collision Risk Quantification and Conflict Resolution in Trajectory Tracking for Acceleration-Actuated Multi-Robot Systems

One of the pivotal challenges in a multi-robot system is how to give attention to accuracy and efficiency while ensuring safety. Prior arts cannot strictly guarantee collision-free for an arbitrarily large number of robots or the results are considerably conservative. Smoothness of the avoidance trajectory also needs to be further optimized. This paper proposes an accelerationactuated simultaneous obstacle avoidance and trajectory tracking method for arbitrarily large teams of robots, that provides a nonconservative collision avoidance strategy and gives approaches for deadlock avoidance. We propose two ways of deadlock resolution, one involves incorporating an auxiliary velocity vector into the error function of the trajectory tracking module, which is proven to have no influence on global convergence of the tracking error. Furthermore, unlike the traditional methods that they address conflicts after a deadlock occurs, our decision-making mechanism avoids the near-zero velocity, which is much more safer and efficient in crowed environments. Extensive comparison show that the proposed method is superior to the existing studies when deployed in a large-scale robot system, with minimal invasiveness.

Pan-infection Foundation Framework Enables Multiple Pathogen Prediction

Host-response-based diagnostics can improve the accuracy of diagnosing bacterial and viral infections, thereby reducing inappropriate antibiotic prescriptions. However, the existing cohorts with limited sample size and coarse infections types are unable to support the exploration of an accurate and generalizable diagnostic model. Here, we curate the largest infection host-response transcriptome data, including 11,247 samples across 89 blood transcriptome datasets from 13 countries and 21 platforms. We build a diagnostic model for pathogen prediction starting from a pan-infection model as foundation (AUC = 0.97) based on the pan-infection dataset. Then, we utilize knowledge distillation to efficiently transfer the insights from this "teacher" model to four lightweight pathogen "student" models, i.e., staphylococcal infection (AUC = 0.99), streptococcal infection (AUC = 0.94), HIV infection (AUC = 0.93), and RSV infection (AUC = 0.94), as well as a sepsis "student" model (AUC = 0.99). The proposed knowledge distillation framework not only facilitates the diagnosis of pathogens using pan-infection data, but also enables an across-disease study from pan-infection to sepsis. Moreover, the framework enables high-degree lightweight design of diagnostic models, which is expected to be adaptively deployed in clinical settings.

Air-Ground Collaborative Robots for Fire and Rescue Missions: Towards Mapping and Navigation Perspective

Air-ground collaborative robots have shown great potential in the field of fire and rescue, which can quickly respond to rescue needs and improve the efficiency of task execution. Mapping and navigation, as the key foundation for air-ground collaborative robots to achieve efficient task execution, have attracted a great deal of attention. This growing interest in collaborative robot mapping and navigation is conducive to improving the intelligence of fire and rescue task execution, but there has been no comprehensive investigation of this field to highlight their strengths. In this paper, we present a systematic review of the ground-to-ground cooperative robots for fire and rescue from a new perspective of mapping and navigation. First, an air-ground collaborative robots framework for fire and rescue missions based on unmanned aerial vehicle (UAV) mapping and unmanned ground vehicle (UGV) navigation is introduced. Then, the research progress of mapping and navigation under this framework is systematically summarized, including UAV mapping, UAV/UGV co-localization, and UGV navigation, with their main achievements and limitations. Based on the needs of fire and rescue missions, the collaborative robots with different numbers of UAVs and UGVs are classified, and their practicality in fire and rescue tasks is elaborated, with a focus on the discussion of their merits and demerits. In addition, the application examples of air-ground collaborative robots in various firefighting and rescue scenarios are given. Finally, this paper emphasizes the current challenges and potential research opportunities, rounding up references for practitioners and researchers willing to engage in this vibrant area of air-ground collaborative robots.

Intelligent System for Automated Molecular Patent Infringement Assessment

Automated drug discovery offers significant potential for accelerating the development of novel therapeutics by substituting labor-intensive human workflows with machine-driven processes. However, a critical bottleneck persists in the inability of current automated frameworks to assess whether newly designed molecules infringe upon existing patents, posing significant legal and financial risks. We introduce PatentFinder, a novel tool-enhanced and multi-agent framework that accurately and comprehensively evaluates small molecules for patent infringement. It incorporates both heuristic and model-based tools tailored for decomposed subtasks, featuring: MarkushParser, which is capable of optical chemical structure recognition of molecular and Markush structures, and MarkushMatcher, which enhances large language models' ability to extract substituent groups from molecules accurately. On our benchmark dataset MolPatent-240, PatentFinder outperforms baseline approaches that rely solely on large language models, demonstrating a 13.8\% increase in F1-score and a 12\% rise in accuracy. Experimental results demonstrate that PatentFinder mitigates label bias to produce balanced predictions and autonomously generates detailed, interpretable patent infringement reports. This work not only addresses a pivotal challenge in automated drug discovery but also demonstrates the potential of decomposing complex scientific tasks into manageable subtasks for specialized, tool-augmented agents.

MolParser: End-to-end Visual Recognition of Molecule Structures in the Wild

In recent decades, chemistry publications and patents have increased rapidly. A significant portion of key information is embedded in molecular structure figures, complicating large-scale literature searches and limiting the application of large language models in fields such as biology, chemistry, and pharmaceuticals. The automatic extraction of precise chemical structures is of critical importance. However, the presence of numerous Markush structures in real-world documents, along with variations in molecular image quality, drawing styles, and noise, significantly limits the performance of existing optical chemical structure recognition (OCSR) methods. We present MolParser, a novel end-to-end OCSR method that efficiently and accurately recognizes chemical structures from real-world documents, including difficult Markush structure. We use a extended SMILES encoding rule to annotate our training dataset. Under this rule, we build MolParser-7M, the largest annotated molecular image dataset to our knowledge. While utilizing a large amount of synthetic data, we employed active learning methods to incorporate substantial in-the-wild data, specifically samples cropped from real patents and scientific literature, into the training process. We trained an end-to-end molecular image captioning model, MolParser, using a curriculum learning approach. MolParser significantly outperforms classical and learning-based methods across most scenarios, with potential for broader downstream applications. The dataset is publicly available.

NAMR-RRT: Neural Adaptive Motion Planning for Mobile Robots in Dynamic Environments

Robots are increasingly deployed in dynamic and crowded environments, such as urban areas and shopping malls, where efficient and robust navigation is crucial. Traditional risk-based motion planning algorithms face challenges in such scenarios due to the lack of a well-defined search region, leading to inefficient exploration in irrelevant areas. While bi-directional and multi-directional search strategies can improve efficiency, they still result in significant unnecessary exploration. This article introduces the Neural Adaptive Multi-directional Risk-based Rapidly-exploring Random Tree (NAMR-RRT) to address these limitations. NAMR-RRT integrates neural network-generated heuristic regions to dynamically guide the exploration process, continuously refining the heuristic region and sampling rates during the planning process. This adaptive feature significantly enhances performance compared to neural-based methods with fixed heuristic regions and sampling rates. NAMR-RRT improves planning efficiency, reduces trajectory length, and ensures higher success by focusing the search on promising areas and continuously adjusting to environments. The experiment results from both simulations and real-world applications demonstrate the robustness and effectiveness of our proposed method in navigating dynamic environments. A website about this work is available at https://sites.google.com/view/namr-rrt.

Leveraging Semantic and Geometric Information for Zero-Shot Robot-to-Human Handover

Human-robot interaction (HRI) encompasses a wide range of collaborative tasks, with handover being one of the most fundamental. As robots become more integrated into human environments, the potential for service robots to assist in handing objects to humans is increasingly promising. In robot-to-human (R2H) handover, selecting the optimal grasp is crucial for success, as it requires avoiding interference with the humans preferred grasp region and minimizing intrusion into their workspace. Existing methods either inadequately consider geometric information or rely on data-driven approaches, which often struggle to generalize across diverse objects. To address these limitations, we propose a novel zero-shot system that combines semantic and geometric information to generate optimal handover grasps. Our method first identifies grasp regions using semantic knowledge from vision-language models (VLMs) and, by incorporating customized visual prompts, achieves finer granularity in region grounding. A grasp is then selected based on grasp distance and approach angle to maximize human ease and avoid interference. We validate our approach through ablation studies and real-world comparison experiments. Results demonstrate that our system improves handover success rates and provides a more user-preferred interaction experience. Videos, appendixes and more are available at https://sites.google.com/view/vlm-handover/.

Intention-based and Risk-Aware Trajectory Prediction for Autonomous Driving in Complex Traffic Scenarios

Accurately predicting the trajectory of surrounding vehicles is a critical challenge for autonomous vehicles. In complex traffic scenarios, there are two significant issues with the current autonomous driving system: the cognitive uncertainty of prediction and the lack of risk awareness, which limit the further development of autonomous driving. To address this challenge, we introduce a novel trajectory prediction model that incorporates insights and principles from driving behavior, ethical decision-making, and risk assessment. Based on joint prediction, our model consists of interaction, intention, and risk assessment modules. The dynamic variation of interaction between vehicles can be comprehensively captured at each timestamp in the interaction module. Based on interaction information, our model considers primary intentions for vehicles to enhance the diversity of trajectory generation. The optimization of predicted trajectories follows the advanced risk-aware decision-making principles. Experimental results are evaluated on the DeepAccident dataset; our approach shows its remarkable prediction performance on normal and accident scenarios and outperforms the state-of-the-art algorithms by at least 28.9\% and 26.5\%, respectively. The proposed model improves the proficiency and adaptability of trajectory prediction in complex traffic scenarios. The code for the proposed model is available at https://sites.google.com/view/ir-prediction.

Efficient Multi-agent Navigation with Lightweight DRL Policy

In this article, we present an end-to-end collision avoidance policy based on deep reinforcement learning (DRL) for multi-agent systems, demonstrating encouraging outcomes in real-world applications. In particular, our policy calculates the control commands of the agent based on the raw LiDAR observation. In addition, the number of parameters of the proposed basic model is 140,000, and the size of the parameter file is 3.5 MB, which allows the robot to calculate the actions from the CPU alone. We propose a multi-agent training platform based on a physics-based simulator to further bridge the gap between simulation and the real world. The policy is trained on a policy-gradients-based RL algorithm in a dense and messy training environment. A novel reward function is introduced to address the issue of agents choosing suboptimal actions in some common scenarios. Although the data used for training is exclusively from the simulation platform, the policy can be successfully transferred and deployed in real-world robots. Finally, our policy effectively responds to intentional obstructions and avoids collisions. The website is available at \url{https://sites.google.com/view/xingrong2024efficient/%E9%A6%96%E9%A1%B5}.

QUADFormer: Learning-based Detection of Cyber Attacks in Quadrotor UAVs

Safety-critical intelligent cyber-physical systems, such as quadrotor unmanned aerial vehicles (UAVs), are vulnerable to different types of cyber attacks, and the absence of timely and accurate attack detection can lead to severe consequences. When UAVs are engaged in large outdoor maneuvering flights, their system constitutes highly nonlinear dynamics that include non-Gaussian noises. Therefore, the commonly employed traditional statistics-based and emerging learning-based attack detection methods do not yield satisfactory results. In response to the above challenges, we propose QUADFormer, a novel Quadrotor UAV Attack Detection framework with transFormer-based architecture. This framework includes a residue generator designed to generate a residue sequence sensitive to anomalies. Subsequently, this sequence is fed into a transformer structure with disparity in correlation to specifically learn its statistical characteristics for the purpose of classification and attack detection. Finally, we design an alert module to ensure the safe execution of tasks by UAVs under attack conditions. We conduct extensive simulations and real-world experiments, and the results show that our method has achieved superior detection performance compared with many state-of-the-art methods.