Tactile sensing plays a vital role in enabling robots to perform fine-grained, contact-rich tasks. However, the high dimensionality of tactile data, due to the large coverage on dexterous hands, poses significant challenges for effective tactile feature learning, especially for 3D tactile data, as there are no large standardized datasets and no strong pretrained backbones. To address these challenges, we propose a novel canonical representation that reduces the difficulty of 3D tactile feature learning and further introduces a force-based selfsupervised pretraining task to capture both local and net force features, which are crucial for dexterous manipulation. Our method achieves an average success rate of 78% across four fine-grained, contact-rich dexterous manipulation tasks in realworld experiments, demonstrating effectiveness and robustness compared to other methods. Further analysis shows that our method fully utilizes both spatial and force information from 3D tactile data to accomplish the tasks. The videos can be viewed at https://3dtacdex.github.io.

Effectively utilizing multi-sensory data is important for robots to generalize across diverse tasks. However, the heterogeneous nature of these modalities makes fusion challenging. Existing methods propose strategies to obtain comprehensively fused features but often ignore the fact that each modality requires different levels of attention at different manipulation stages. To address this, we propose a force-guided attention fusion module that adaptively adjusts the weights of visual and tactile features without human labeling. We also introduce a self-supervised future force prediction auxiliary task to reinforce the tactile modality, improve data imbalance, and encourage proper adjustment. Our method achieves an average success rate of 93% across three fine-grained, contact-rich tasks in real-world experiments. Further analysis shows that our policy appropriately adjusts attention to each modality at different manipulation stages. The videos can be viewed at https://adaptac-dex.github.io/.

Autonomous learning of dexterous, long-horizon robotic skills has been a longstanding pursuit of embodied AI. Recent advances in robotic reinforcement learning (RL) have demonstrated remarkable performance and robustness in real-world visuomotor control tasks. However, applying RL in the real world faces challenges such as low sample efficiency, slow exploration, and significant reliance on human intervention. In contrast, simulators offer a safe and efficient environment for extensive exploration and data collection, while the visual sim-to-real gap, often a limiting factor, can be mitigated using real-to-sim techniques. Building on these, we propose SimLauncher, a novel framework that combines the strengths of real-world RL and real-to-sim-to-real approaches to overcome these challenges. Specifically, we first pre-train a visuomotor policy in the digital twin simulation environment, which then benefits real-world RL in two ways: (1) bootstrapping target values using extensive simulated demonstrations and real-world demonstrations derived from pre-trained policy rollouts, and (2) Incorporating action proposals from the pre-trained policy for better exploration. We conduct comprehensive experiments across multi-stage, contact-rich, and dexterous hand manipulation tasks. Compared to prior real-world RL approaches, SimLauncher significantly improves sample efficiency and achieves near-perfect success rates. We hope this work serves as a proof of concept and inspires further research on leveraging large-scale simulation pre-training to benefit real-world robotic RL.

As technological advancements continue to expand the capabilities of multi unmanned-aerial-vehicle systems (mUAV), human operators face challenges in scalability and efficiency due to the complex cognitive load and operations associated with motion adjustments and team coordination. Such cognitive demands limit the feasible size of mUAV teams and necessitate extensive operator training, impeding broader adoption. This paper developed a Hand Gesture Based Interactive Control (HGIC), a novel interface system that utilize computer vision techniques to intuitively translate hand gestures into modular commands for robot teaming. Through learning control models, these commands enable efficient and scalable mUAV motion control and adjustments. HGIC eliminates the need for specialized hardware and offers two key benefits: 1) Minimal training requirements through natural gestures; and 2) Enhanced scalability and efficiency via adaptable commands. By reducing the cognitive burden on operators, HGIC opens the door for more effective large-scale mUAV applications in complex, dynamic, and uncertain scenarios. HGIC will be open-sourced after the paper being published online for the research community, aiming to drive forward innovations in human-mUAV interactions.

BACKGROUND: Accurate estimation of the effective reproductive number ([Formula: see text]) of epidemic outbreaks is of central relevance to public health policy and decision making. We present estimateR, an R package for the estimation of the reproductive number through time from delayed observations of infection events. Such delayed observations include confirmed cases, hospitalizations or deaths. The package implements the methodology of Huisman et al. but modularizes the [Formula: see text] estimation procedure to allow easy implementation of new alternatives to the currently available methods. Users can tailor their analyses according to their particular use case by choosing among implemented options. RESULTS: The estimateR R package allows users to estimate the effective reproductive number of an epidemic outbreak based on observed cases, hospitalization, death or any other type of event documenting past infections, in a fast and timely fashion. We validated the implementation with a simulation study: estimateR yielded estimates comparable to alternative publicly available methods while being around two orders of magnitude faster. We then applied estimateR to empirical case-confirmation incidence data for COVID-19 in nine countries and for dengue fever in Brazil; in parallel, estimateR is already being applied (i) to SARS-CoV-2 measurements in wastewater data and (ii) to study influenza transmission based on wastewater and clinical data in other studies. In summary, this R package provides a fast and flexible implementation to estimate the effective reproductive number for various diseases and datasets. CONCLUSIONS: The estimateR R package is a modular and extendable tool designed for outbreak surveillance and retrospective outbreak investigation. It extends the method developed for COVID-19 by Huisman et al. and makes it available for a variety of pathogens, outbreak scenarios, and observation types. Estimates obtained with estimateR can be interpreted directly or used to inform more complex epidemic models (e.g. for forecasting) on the value of [Formula: see text].

With the technological developments of satellite manufacturing and rocket launching, the constellation of satellites is increasingly normal. Electronic reconnaissance using satellites group is easy to implement. Bearings-only geolocation is an important research subject in the electronic reconnaissance field. In this manuscript, we focus on the performance analysis of bearings-only geolocation based on constellation of satellites. The geolocation model is firstly established for the scenario of satellites group. Second, angles of arrival (AOAs) in measuring coordinate systems (m-system) for different satellites are established and transformed to the standard earth-centered earth-fixed (ECEF). Then, we derive the Cramer Rao lower bound (CRLB) for the geolocation precision with the effects of attitude error and position error of satellites. Finally, simulation results are provided to reveal the theoretical performance of bearings-only geolocation based on constellation of satellites.

Industrial Internet of Things (IIoT) is regarded as the basis of the future industrial system. The interaction between nodes in IIoT shows strong regularity or sociality, which has the potential to improve the efficiency of IIoT. This article focuses on the investigation of the relationship of social activity and data transmission, and proposes a novel routing protocol to enhance QoS of social and cognitive IIoT networks. In accordance with practical requirements of an application, the routing protocol owns two purposes: one is to meet the requirement of delay-sensitive information transmission, and the other focuses on the load balance of the social and cognitive IIoT network. As a special feature of social and cognitive IIoT, the mechanism for protection of social activities is proposed while data transmission is adopted in the proposed protocol. System-level evaluation shows that the proposed protocol can achieve better performances compared with existing routing protocols for social and cognitive IIoT networks.