The study of time series data is crucial for understanding trends and anomalies over time, enabling predictive insights across various sectors. Spatio-temporal data, on the other hand, is vital for analyzing phenomena in both space and time, providing a dynamic perspective on complex system interactions. Recently, diffusion models have seen widespread application in time series and spatio-temporal data mining. Not only do they enhance the generative and inferential capabilities for sequential and temporal data, but they also extend to other downstream tasks. In this survey, we comprehensively and thoroughly review the use of diffusion models in time series and spatio-temporal data, categorizing them by model category, task type, data modality, and practical application domain. In detail, we categorize diffusion models into unconditioned and conditioned types and discuss time series data and spatio-temporal data separately. Unconditioned models, which operate unsupervised, are subdivided into probability-based and score-based models, serving predictive and generative tasks such as forecasting, anomaly detection, classification, and imputation. Conditioned models, on the other hand, utilize extra information to enhance performance and are similarly divided for both predictive and generative tasks. Our survey extensively covers their application in various fields, including healthcare, recommendation, climate, energy, audio, and transportation, providing a foundational understanding of how these models analyze and generate data. Through this structured overview, we aim to provide researchers and practitioners with a comprehensive understanding of diffusion models for time series and spatio-temporal data analysis, aiming to direct future innovations and applications by addressing traditional challenges and exploring innovative solutions within the diffusion model framework. 

pdf/a-survey-on-diffusion-models-for-time-series-and-spatio-47ep24ra8t.pdf

A Survey on Diffusion Models for Time Series and Spatio-Temporal Data

Commercial and industrial deployments of robot fleets at Amazon, Nimble, Plus One, Waymo, and Zoox query remote human teleoperators when robots are at risk or unable to make task progress. With continual learning, interventions from the remote pool of humans can also be used to improve the robot fleet control policy over time. A central question is how to effectively allocate limited human attention. Prior work addresses this in the single-robot, single-human setting; we formalize the Interactive Fleet Learning (IFL) setting, in which multiple robots interactively query and learn from multiple human supervisors. We propose Return on Human Effort (ROHE) as a new metric and Fleet-DAgger, a family of IFL algorithms. We present an open-source IFL benchmark suite of GPU-accelerated Isaac Gym environments for standardized evaluation and development of IFL algorithms. We compare a novel Fleet-DAgger algorithm to 4 baselines with 100 robots in simulation. We also perform a physical block-pushing experiment with 4 ABB YuMi robot arms and 2 remote humans. Experiments suggest that the allocation of humans to robots significantly affects the performance of the fleet, and that the novel Fleet-DAgger algorithm can achieve up to 8.8x higher ROHE than baselines. See https://tinyurl.com/fleet-dagger for supplemental material.

Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision

Robot grasping is one of the most important abilities of modern intelligent robots, especially industrial robots. However, most of the existing robot arm’s grasp detection work is highly dependent on their edge computing ability, and the safety problems in the process of grasp detection are not considered enough. In this paper, we propose a new robotic arm grasping detection model with an edge-cloud collaboration method. With the scheme of multi-object multi-grasp, our model improves the mission success ratio of grasping. The model can not only complete the compression of full-resolution images but also achieve image compression at a limited bit rate. The image compression ratio reaches 2.03%; the structural difference value is higher than 0.91, and our average detection speed reaches 13.62 fps. Furthermore, we have packaged our model as a functional package of the ROS operating system, which can be easily used in actual robotic arm operations. Our solution can be fully applied to other work of robots to promote the development of the field of robotics.

A Secure and Efficient Multi-Object Grasping Detection Approach for Robotic Arms

In emergency scenarios, mobile robots must navigate like humans, interpreting stimuli to locate potential victims rapidly without interfering with first responders. Existing socially-aware navigation algorithms face computational and adaptability challenges. To overcome these, we propose a solution, MIRACLE -- an inverse reinforcement and curriculum learning model, that employs gamified learning to gather stimuli-driven human navigational data. This data is then used to train a Deep Inverse Maximum Entropy Reinforcement Learning model, reducing reliance on demonstrator abilities. Testing reveals a low loss of 2.7717 within a 400-sized environment, signifying human-like response replication. Current databases lack comprehensive stimuli-driven data, necessitating our approach. By doing so, we enable robots to navigate emergency situations with human-like perception, enhancing their life-saving capabilities.

MIRACLE: Inverse Reinforcement and Curriculum Learning Model for Human-inspired Mobile Robot Navigation

In this paper, we outline a framework for modeling utility-based blockchain-enabled economic systems using Agent Based Modeling (ABM). Our approach is to model the supply dynamics based on metrics of the cryptoeconomy. We then build autonomous agents that make decisions based on those metrics. Those decisions, in turn, impact the metrics in the next time-step, creating a closed loop that models the evolution of cryptoeconomies over time. We apply this framework as a case-study to Filecoin, a decentralized blockchain-based storage network. We perform several experiments that explore the effect of different strategies, capitalization, and external factors to agent rewards, that highlight the efficacy of our approach to modeling blockchain based cryptoeconomies. 

An Agent-Based Model Framework for Utility-Based Cryptoeconomies

Imagine generating a city's electricity demand pattern based on weather, the presence of an electric vehicle, and location, which could be used for capacity planning during a winter freeze. Such real-world time series are often enriched with paired heterogeneous contextual metadata (weather, location, etc.). Current approaches to time series generation often ignore this paired metadata, and its heterogeneity poses several practical challenges in adapting existing conditional generation approaches from the image, audio, and video domains to the time series domain. To address this gap, we introduce Time Weaver, a novel diffusion-based model that leverages the heterogeneous metadata in the form of categorical, continuous, and even time-variant variables to significantly improve time series generation. Additionally, we show that naive extensions of standard evaluation metrics from the image to the time series domain are insufficient. These metrics do not penalize conditional generation approaches for their poor specificity in reproducing the metadata-specific features in the generated time series. Thus, we innovate a novel evaluation metric that accurately captures the specificity of conditional generation and the realism of the generated time series. We show that Time Weaver outperforms state-of-the-art benchmarks, such as Generative Adversarial Networks (GANs), by up to 27% in downstream classification tasks on real-world energy, medical, air quality, and traffic data sets.

pdf/time-weaver-a-conditional-time-series-generation-model-4jh4ye62n2.pdf

Time Weaver: A Conditional Time Series Generation Model

Fleets of networked autonomous vehicles (AVs) collect terabytes of sensory data, which is often transmitted to central servers (the ''cloud'') for training machine learning (ML) models. Ideally, these fleets should upload all their data, especially from rare operating contexts, in order to train robust ML models. However, this is infeasible due to prohibitive network bandwidth and data labeling costs. Instead, we propose a cooperative data sampling strategy where geo-distributed AVs collaborate to collect a diverse ML training dataset in the cloud. Since the AVs have a shared objective but minimal information about each other's local data distribution and perception model, we can naturally cast cooperative data collection as an $N$-player mathematical game. We show that our cooperative sampling strategy uses minimal information to converge to a centralized oracle policy with complete information about all AVs. Moreover, we theoretically characterize the performance benefits of our game-theoretic strategy compared to greedy sampling. Finally, we experimentally demonstrate that our method outperforms standard benchmarks by up to $21.9\%$ on 4 perception datasets, including for autonomous driving in adverse weather conditions. Crucially, our experimental results on real-world datasets closely align with our theoretical guarantees.

Data Games: A Game-Theoretic Approach to Swarm Robotic Data Collection

. There are a multitude of Blockchain-based physical infrastructure systems, ranging from decentralized 5G wireless to electric vehicle charging networks. These systems operate on a crypto-currency enabled token economy, where node suppliers are rewarded with tokens for enabling, validating, managing and/or securing the system. How-ever, today’s token economies are largely designed without infrastructure systems in mind, and often operate with a ﬁxed token supply (e.g., Bit-coin). Such ﬁxed supply systems often encourage early adopters to hoard valuable tokens, thereby resulting in reduced incentives for new nodes when joining or maintaining the network. This paper argues that token economies for infrastructure networks should be structured diﬀerently – they should continually incentivize new suppliers to join the network to provide services and support to the ecosystem. As such, the associated token rewards should gracefully scale with the size of the decentralized system, but should be carefully balanced with consumer demand to manage inﬂation and be designed to ultimately reach an equilibrium. To achieve such an equilibrium, the decentralized token economy should be adapt-able and controllable so that it maximizes the total utility of all users, such as achieving stable (overall non-inﬂationary) token economies. Our main contribution controllers that outperform tra-ditional algorithmic stablecoin heuristics by up to 2 . 4 × in simulations based on real demand data from existing decentralized wireless networks.

A Control Theoretic Approach to Infrastructure-Centric Blockchain Tokenomics

Fleets of networked autonomous vehicles (AVs) collect terabytes of sensory data, which is often transmitted to central servers (the “cloud”) for training machine learning (ML) models. Ideally, these fleets should upload all their data, especially from rare operating contexts, in order to train robust ML models. However, this is infeasible due to prohibitive network bandwidth and data labeling costs. Instead, we propose a cooperative data sampling strategy where geodistributed AVs collaborate to collect a diverse ML training dataset in the cloud. Since the AVs have a shared objective but minimal information about each other’s local data distribution and perception model, we can naturally cast cooperative data collection as an N-player mathematical game. We show that our cooperative sampling strategy uses minimal information to converge to a centralized oracle policy with complete information about all AVs. Moreover, we theoretically characterize the performance benefits of our game-theoretic strategy compared to greedy sampling. Finally, we experimentally demonstrate that our method outperforms standard benchmarks by up to 21.9% on 4 perception datasets, including for autonomous driving in adverse weather conditions. Crucially, our experimental results on real-world datasets closely align with our theoretical guarantees.

Decentralized Data Collection for Robotic Fleet Learning: A Game-Theoretic Approach

The rapid evolution of satellite imaging systems has resulted in sharp increases of image archive volumes. Multitemporal images constitute a sizeable portion of these time-series databases. Accordingly, development of accurate content based time-series retrieval (CBTSR) methods in massive archives of RS images attracts much research interest. Given a user-defined query time series, CBTSR aims at identifying within a massive archive image time series that show characteristics similar to those of the query time series. In this paper, we focus our attention to CBTSR in pairs of RS images, aiming to search and retrieve bi-temporal image pairs containing changes similar to those modeled in the query. To this end, we introduce two deep learning-based methods in the framework of CBTSR. The first method, called deep change vector retrieval (DVCR), is based on selected deep features extracted from the change vector analysis. The second method, called autoencoder with early fusion (AEEF) uses an autoencoder architecture to recreate the time difference images and the latent codes produced by this network. Experimental results show the effectiveness of the proposed methods for CBTSR problems. The code of the proposed methods is available at: https://github.com/OnatV/ChangeRetrieval.

Deep Learning Driven Content-Based Image Time-Series Retrieval in Remote Sensing Archives

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