Small and medium-sized enterprises (SMEs) often struggle with automating high-mix, low-volume (HMLV) manufacturing due to the inflexibility and high cost of traditional automation solutions. This paper presents a novel approach to robotic manipulation for HMLV environments that leverages vibrotactile sensing. We propose integrating vibrotactile sensors, which capture subtle vibrations and acoustic signals, to provide real-time feedback during manipulation tasks. This approach enables the robot to detect subtle misalignments, which can assist in refining vision-based policies and improving the robot’s overall manipulation skills. We demonstrate the effectiveness of this method in several representative insertion tasks, showing how vibrotactile feedback can be used to predict success or failure of an insertion task as well as predict initial contact between an object grasped in-hand and the placement location. Our results suggest that vibrotactile sensing offers a promising pathway towards more robust and adaptable robotic systems that can better empower SMEs to embrace automation.

MOTIVATION: The growing availability of large-scale population biobanks has the potential to significantly advance our understanding of human health and disease. However, the massive computational and storage demands of whole genome sequencing (WGS) data pose serious challenges, particularly for underfunded institutions or researchers in developing countries. This disparity in resources can limit equitable access to cutting-edge genetic research. RESULTS: We present novel algorithms and regression methods that dramatically reduce both computation time and storage requirements for WGS studies, with particular attention to rare variant representation. By integrating these approaches into PLINK 2.0, we demonstrate substantial gains in efficiency without compromising analytical accuracy. In an exome-wide association analysis of 19.4 million variants for the body mass index phenotype in 125 077 individuals (AllofUs project data), we reduced runtime from 695.35 min (11.5 h) on a single machine to 1.57 min with 30 GB of memory and 50 threads (or 8.67 min with 4 threads). Additionally, the framework supports multi-phenotype analyses, further enhancing its flexibility. AVAILABILITY AND IMPLEMENTATION: Our optimized methods are fully integrated into PLINK 2.0 and can be accessed at: https://www.cog-genomics.org/plink/2.0/.

MOTIVATION: Large-scale and high-dimensional genome sequencing data poses computational challenges. General-purpose optimization tools are usually not optimal in terms of computational and memory performance for genetic data. RESULTS: We develop two efficient solvers for optimization problems arising from large-scale regularized regressions on millions of genetic variants sequenced from hundreds of thousands of individuals. These genetic variants are encoded by the values in the set {0,1,2,NA}. We take advantage of this fact and use two bits to represent each entry in a genetic matrix, which reduces memory requirement by a factor of 32 compared to a double precision floating point representation. Using this representation, we implemented an iteratively reweighted least square algorithm to solve Lasso regressions on genetic matrices, which we name snpnet-2.0. When the dataset contains many rare variants, the predictors can be encoded in a sparse matrix. We utilize the sparsity in the predictor matrix to further reduce memory requirement and computational speed. Our sparse genetic matrix implementation uses both the compact two-bit representation and a simplified version of compressed sparse block format so that matrix-vector multiplications can be effectively parallelized on multiple CPU cores. To demonstrate the effectiveness of this representation, we implement an accelerated proximal gradient method to solve group Lasso on these sparse genetic matrices. This solver is named sparse-snpnet, and will also be included as part of snpnet R package. Our implementation is able to solve Lasso and group Lasso, linear, logistic and Cox regression problems on sparse genetic matrices that contain 1 000 000 variants and almost 100 000 individuals within 10 min and using less than 32GB of memory. AVAILABILITY AND IMPLEMENTATION: https://github.com/rivas-lab/snpnet/tree/compact.