Autonomous flight in cluttered environments requires a robot to build a geometric map of its surroundings and plan safe, dynamically feasible trajectories, all onboard and in real time. Conventional approaches treat mapping and planning as separate stages and often rely on binary occupancy for collision checking. We argue that these two stages should be co-designed around a single representation: a signed distance function (SDF). By encoding distance to the nearest obstacle, an SDF provides richer information for planning and trajectory optimization than occupancy alone. We develop an Octree REsidual Network (OREN) that pairs an explicit octree prior with an implicit neural residual to reconstruct SDFs online from point cloud observations with the efficiency of volumetric methods and the accuracy and differentiability of neural methods. In tandem, we develop Bubble$^\star$, a search-based planner that exploits the distance information to grow maximal collision-free balls, which we call bubbles, with formal guarantees of termination, completeness, and failure detection. Planning over a graph of bubbles significantly reduces collision checks compared to a grid-based A$^\star$ search and returns a bubble sequence that forms a safe corridor for trajectory optimization. We demonstrate the integrated OREN-Bubble$^\star$ approach onboard a quadrotor, navigating unseen indoor environments in real time under tight compute constraints. OREN improves SDF estimation by $22$% compared to baselines, while Bubble$^\star$ finds trajectories spanning $\approx 90$ m through a cluttered environment in $1$-$3$ sec., whereas baselines take up to $10$ sec. in the same environment.
Jason Stanley, Zhirui Dai, Qi-Hao Qian et al.· arXiv.org· 0 citations
The platform supports an end-to-end workflow encompassing EIS preprocessing with selectable impedance representations, agent setup and training, ECM generation for new measurements, and visualization-based evaluation and analysis of agent decision-making.
A. Jaberi, Yonatan Kurniawan, Robert Black et al.· 0 citations
Foundation machine learning interatomic potentials (MLIPs) deliver near-ab-initio accuracy at a fraction of the computational cost, yet their promise for Metal-organic Frameworks (MOFs) remains largely unrealized as large unit cells make first-principles training data expensive to generate, fine-tuned models are scarce, and experimentally grounded benchmarks are scarcer still. We introduce uMOF, a three-part contribution addressing this gap. First, we release the largest and most accurate density functional theory dataset for MOFs to date, computed at the r$^2$SCAN-D4 level of theory across 85524 configurations spanning 19950 unique frameworks and 79 elements, covering empty and gas-loaded structures, geometry optimizations, equations of state, and finite-temperature molecular dynamics. Second, we release a literature-mined benchmark of 3986 verified property values (3146 experimental) extracted from 626 papers by a seven-stage, checkpointed multi-pass large language model pipeline, linked to more than 650 crystallographic information files. Third, we release two universal MLIPs for MOFs, uMOF-MH and uMOF-POLAR, fine-tuned from two architecturally distinct MACE foundation models on the uMOF dataset. On near-equilibrium, ``Tier-1''properties (bulk modulus, phonon-derived heat capacity) the uMOF models perform comparably to existing foundation and fine-tuned baselines. On harder, dynamics-sensitive properties like gas adsorption enthalpies via Widom insertion and adsorption isotherms, the uMOF models outperform every baseline we test, including MOF-specialized gas-capture models trained on datasets up to three orders of magnitude larger, cutting error by more than 80% to within experimental uncertainty. We trace this advantage to the physical diversity of the training data and to level of theory where a small (1.7%) fraction of MD simulations is decisive for MLIP stability.
T. J. Inizan, Prathami Divakar Kamath, A. Elena et al.· 0 citations
The Physics-Informed Stochastic Configuration Machine is proposed, a novel backpropagation-free framework for both forward and inverse problems in differential equations that achieves high-fidelity predictive accuracy and robust parameter identification while accelerating the training process by orders of magnitude compared to standard PINNs.
Yueze Song, Zhong-Zhe Chen, Li-Hui Cen et al.· 0 citations
The results support neuromorphic acoustic anomaly detection as a practical candidate for low-power, persistent machine monitoring and support autoencoder-based acoustic anomaly detection on an Intel Loihi 2 neuromorphic processor.
Steven C. Nesbit, Victor M. Vergara, Michael A. Felix et al.· 0 citations
We use cookies to run the site and, with your consent, for analytics and to show ads.
See our Cookie Policy.
