The problem of path planning for autonomously searching and tracking multiple objects is important to reconnaissance, surveillance, and many other data-gathering applications. Due to the inherent competing objectives of searching for new objects while maintaining tracks for found objects, most current approaches rely on multi-objective planning methods, leaving it up to the user to tune parameters to balance between the two objectives, usually based on heuristics or trial and error. In this paper, we introduce $\textit{UniSaT}$ ($\textit{Unified Search and Track}$), a unified-objective formulation for the search and track problem based on Random Finite Sets (RFS). This is done by modeling both the unknown and known objects through a combined generalized labeled multi-Bernoulli (GLMB) filter. For the unseen objects, we can leverage both cardinality and spatial prior distributions, which means $\textit{UniSaT}$ does not rely on knowing the exact count of the expected number of objects in the space. The planner maximizes the mutual information of this unified belief model, creating balanced search and tracking behaviors. We demonstrate our work in a simulated environment and show both qualitative results as well as quantitative improvements over a multi-objective method.

We analyse the effectiveness of edge detection algorithms for the purpose of automatically extracting coastlines from satellite images. Four algorithms - Canny, Sobel, Scharr and Prewitt are compared visually and using metrics. With an average SSIM of 0.8, Canny detected edges that were closest to the reference edges. However, the algorithm had difficulty distinguishing noisy edges, e.g. due to development, from coastline edges. In addition, histogram equalization and Gaussian blur were shown to improve the effectiveness of the edge detection algorithms by up to 1.5 and 1.6 times respectively.

Deep learning has shown promising results for multiple 3D point cloud registration datasets. However, in the underwater domain, most registration of multibeam echo-sounder (MBES) point cloud data are still performed using classical methods in the iterative closest point (ICP) family. In this work, we curate and release DotsonEast Dataset, a semi-synthetic MBES registration dataset constructed from an autonomous underwater vehicle in West Antarctica. Using this dataset, we systematically benchmark the performance of 2 classical and 4 learning-based methods. The experimental results show that the learning-based methods work well for coarse alignment, and are better at recovering rough transforms consistently at high overlap (20-50%). In comparison, GICP (a variant of ICP) performs well for fine alignment and is better across all metrics at extremely low overlap (10%). To the best of our knowledge, this is the first work to benchmark both learning-based and classical registration methods on an AUV-based MBES dataset. To facilitate future research, both the code and data are made available online.

Many tasks related to Computational Social Science and Web Content Analysis involve classifying pieces of text based on the claims they contain. State-of-the-art approaches usually involve fine-tuning models on large annotated datasets, which are costly to produce. In light of this, we propose and release a qualitative and versatile few-shot learning methodology as a common paradigm for any claim-based textual classification task. This methodology involves defining the classes as arbitrarily sophisticated taxonomies of claims, and using Natural Language Inference models to obtain the textual entailment between these and a corpus of interest. The performance of these models is then boosted by annotating a minimal sample of data points, dynamically sampled using the well-established statistical heuristic of Probabilistic Bisection. We illustrate this methodology in the context of three tasks: climate change contrarianism detection, topic/stance classification and depression-relates symptoms detection.

Table summarization is a crucial task aimed at condensing information from tabular data into concise and comprehensible textual summaries. However, existing approaches often fall short of adequately meeting users' information and quality requirements and tend to overlook the complexities of real-world queries. In this paper, we propose a novel method to address these limitations by introducing query-focused multi-table summarization. Our approach, which comprises a table serialization module, a summarization controller, and a large language model (LLM), utilizes textual queries and multiple tables to generate query-dependent table summaries tailored to users' information needs. To facilitate research in this area, we present a comprehensive dataset specifically tailored for this task, consisting of 4909 query-summary pairs, each associated with multiple tables. Through extensive experiments using our curated dataset, we demonstrate the effectiveness of our proposed method compared to baseline approaches. Our findings offer insights into the challenges of complex table reasoning for precise summarization, contributing to the advancement of research in query-focused multi-table summarization.

Monitoring large scale environments is a crucial task for managing remote alpine environments, especially for hazardous events such as avalanches. One key information for avalanche risk forecast is imagery of released avalanches. As these happen in remote and potentially dangerous locations this data is difficult to obtain. Fixed-wing vehicles, due to their long range and travel speeds are a promising platform to gather aerial imagery to map avalanche activities. However, operating such vehicles in mountainous terrain remains a challenge due to the complex topography, regulations, and uncertain environment. In this work, we present a system that is capable of safely navigating and mapping an avalanche using a fixed-wing aerial system and discuss the challenges arising when executing such a mission. We show in our field experiments that we can effectively navigate in steep terrain environments while maximizing the map quality. We expect our work to enable more autonomous operations of fixed-wing vehicles in alpine environments to maximize the quality of the data gathered.

In meteorology, finding similar weather patterns or analogs in historical datasets can be useful for data assimilation, forecasting, and postprocessing. In climate science, analogs in historical and climate projection data are used for attribution and impact studies. However, most of the time, those large weather and climate datasets are nearline. They must be downloaded, which takes a lot of bandwidth and disk space, before the computationally expensive search can be executed. We propose a dimension reduction technique based on autoencoder (AE) neural networks to compress those datasets and perform the search in an interpretable, compressed latent space. A distance-regularized Siamese twin autoencoder (DIRESA) architecture is designed to preserve distance in latent space while capturing the nonlinearities in the datasets. Using conceptual climate models of different complexities, we show that the latent components thus obtained provide physical insight into the dominant modes of variability in the system. Compressing datasets with DIRESA reduces the online storage and keeps the latent components uncorrelated, while the distance (ordering) preservation and reconstruction fidelity robustly outperform Principal Component Analysis (PCA) and other dimension reduction techniques such as UMAP or variational autoencoders.

How should zoomorphic, or bio-inspired, robots indicate to humans that interactions will be safe and fun? Here, a survey is used to measure how human willingness to interact with a simulated butterfly robot is affected by different flight patterns. Flapping frequency, flap to glide ratio, and flapping pattern were independently varied based on a literature review of butterfly and moth flight. Human willingness to interact with these simulations and demographic information were self-reported via an online survey. Low flapping frequency and greater proportion of gliding were preferred, and prior experience with butterflies strongly predicted greater interaction willingness. The preferred flight parameters correspond to migrating butterfly flight patterns that are rarely directly observed by humans and do not correspond to the species that inspired the wing shape of the robot model. The most realistic butterfly simulations were among the least preferred. An analysis of animated butterflies in popular media revealed a convergence on slower, less realistic flight parameters. This iterative and interactive artistic process provides a model for determining human preferences and identifying functional requirements of robots for human interaction. Thus, the robotic design process can be streamlined by leveraging animated models and surveys prior to construction.

Cluster analysis is a popular unsupervised learning tool used in many disciplines to identify heterogeneous sub-populations within a sample. However, validating cluster analysis results and determining the number of clusters in a data set remains an outstanding problem. In this work, we present a global criterion called the Distinguishability criterion to quantify the separability of identified clusters and validate inferred cluster configurations. Our computational implementation of the Distinguishability criterion corresponds to the Bayes risk of a randomized classifier under the 0-1 loss. We propose a combined loss function-based computational framework that integrates the Distinguishability criterion with many commonly used clustering procedures, such as hierarchical clustering, k-means, and finite mixture models. We present these new algorithms as well as the results from comprehensive data analysis based on simulation studies and real data applications.

Retrieval-Augmented Generation (RAG) demonstrates great value in alleviating outdated knowledge or hallucination by supplying LLMs with updated and relevant knowledge. However, there are still several difficulties for RAG in understanding complex multi-hop query and retrieving relevant documents, which require LLMs to perform reasoning and retrieve step by step. Inspired by human's reasoning process in which they gradually search for the required information, it is natural to ask whether the LLMs could notice the missing information in each reasoning step. In this work, we first experimentally verified the ability of LLMs to extract information as well as to know the missing. Based on the above discovery, we propose a Missing Information Guided Retrieve-Extraction-Solving paradigm (MIGRES), where we leverage the identification of missing information to generate a targeted query that steers the subsequent knowledge retrieval. Besides, we design a sentence-level re-ranking filtering approach to filter the irrelevant content out from document, along with the information extraction capability of LLMs to extract useful information from cleaned-up documents, which in turn to bolster the overall efficacy of RAG. Extensive experiments conducted on multiple public datasets reveal the superiority of the proposed MIGRES method, and analytical experiments demonstrate the effectiveness of our proposed modules.