An Efficient Ground-aerial Transportation System for Pest Control Enabled by AI-based Autonomous Nano-UAVs

Efficient crop production requires early detection of pest outbreaks and timely treatments; we consider a solution based on a fleet of multiple autonomous miniaturized unmanned aerial vehicles (nano-UAVs) to visually detect pests and a single slower heavy vehicle that visits the detected outbreaks to deliver treatments. To cope with the extreme limitations aboard nano-UAVs, e.g., low-resolution sensors and sub-100 mW computational power budget, we design, fine-tune, and optimize a tiny image-based convolutional neural network (CNN) for pest detection. Despite the small size of our CNN (i.e., 0.58 GOps/inference), on our dataset, it scores a mean average precision (mAP) of 0.79 in detecting harmful bugs, i.e., 14% lower mAP but 32x fewer operations than the best-performing CNN in the literature. Our CNN runs in real-time at 6.8 frame/s, requiring 33 mW on a GWT GAP9 System-on-Chip aboard a Crazyflie nano-UAV. Then, to cope with in-field unexpected obstacles, we leverage a global+local path planner based on the A* algorithm. The global path planner determines the best route for the nano-UAV to sweep the entire area, while the local one runs up to 50 Hz aboard our nano-UAV and prevents collision by adjusting the short-distance path. Finally, we demonstrate with in-simulator experiments that once a 25 nano-UAVs fleet has combed a 200x200 m vineyard, collected information can be used to plan the best path for the tractor, visiting all and only required hotspots. In this scenario, our efficient transportation system, compared to a traditional single-ground vehicle performing both inspection and treatment, can save up to 20 h working time.

On the Regularization of Learnable Embeddings for Time Series Processing

In processing multiple time series, accounting for the individual features of each sequence can be challenging. To address this, modern deep learning methods for time series analysis combine a shared (global) model with local layers, specific to each time series, often implemented as learnable embeddings. Ideally, these local embeddings should encode meaningful representations of the unique dynamics of each sequence. However, when these are learned end-to-end as parameters of a forecasting model, they may end up acting as mere sequence identifiers. Shared processing blocks may then become reliant on such identifiers, limiting their transferability to new contexts. In this paper, we address this issue by investigating methods to regularize the learning of local learnable embeddings for time series processing. Specifically, we perform the first extensive empirical study on the subject and show how such regularizations consistently improve performance in widely adopted architectures. Furthermore, we show that methods preventing the co-adaptation of local and global parameters are particularly effective in this context. This hypothesis is validated by comparing several methods preventing the downstream models from relying on sequence identifiers, going as far as completely resetting the embeddings during training. The obtained results provide an important contribution to understanding the interplay between learnable local parameters and shared processing layers: a key challenge in modern time series processing models and a step toward developing effective foundation models for time series.

Relational Inductive Biases for Object-Centric Image Generation

Conditioning image generation on specific features of the desired output is a key ingredient of modern generative models. Most existing approaches focus on conditioning the generation based on free-form text, while some niche studies use scene graphs to describe the content of the image to be generated. This paper explores novel methods to condition image generation that are based on object-centric relational representations. In particular, we propose a methodology to condition the generation of a particular object in an image on the attributed graph representing its structure and associated style. We show that such architectural biases entail properties that facilitate the manipulation and conditioning of the generative process and allow for regularizing the training procedure. The proposed framework is implemented by means of a neural network architecture combining convolutional operators that operate on both the underlying graph and the 2D grid that becomes the output image. The resulting model learns to generate multi-channel masks of the object that can be used as a soft inductive bias in the downstream generative task. Empirical results show that the proposed approach compares favorably against relevant baselines on image generation conditioned on human poses.