Scientists often search for phenomena of interest while exploring new environments. Autonomous vehicles are deployed to explore such areas where human-operated vehicles would be costly or dangerous. Online control of autonomous vehicles for information-gathering is called adaptive sampling and can be framed as a POMDP that uses information gain as its principal objective. While prior work focuses largely on single-agent scenarios, this paper confronts challenges unique to multi-agent adaptive sampling, such as avoiding redundant observations, preventing vehicle collision, and facilitating path planning under limited communication. We start with Multi-Agent Path Finding (MAPF) methods, which address collision avoidance by decomposing the MAPF problem into a series of single-agent path planning problems. We then present information-driven MAPF which addresses multi-agent information gain under limited communication. First, we introduce an admissible heuristic that relaxes mutual information gain to an additive function that can be evaluated as a set of independent single agent path planning problems. Second, we extend our approach to a distributed system that is robust to limited communication. When all agents are in range, the group plans jointly to maximize information. When some agents move out of range, communicating subgroups are formed and the subgroups plan independently. Since redundant observations are less likely when vehicles are far apart, this approach only incurs a small loss in information gain, resulting in an approach that gracefully transitions from full to partial communication. We evaluate our method against other adaptive sampling strategies across various scenarios, including real-world robotic applications. Our method was able to locate up to 200% more unique phenomena in certain scenarios, and each agent located its first unique phenomenon faster by up to 50%.

Water quality mapping for critical parameters such as temperature, salinity, and turbidity is crucial for assessing an aquaculture farm's health and yield capacity. Traditional approaches involve using boats or human divers, which are time-constrained and lack depth variability. This work presents an innovative approach to 3D water quality mapping in shallow water environments using a BlueROV2 equipped with GPS and a water quality sensor. This system allows for accurate location correction by resurfacing when errors occur. This study is being conducted at an oyster farm in the Chesapeake Bay, USA, providing a more comprehensive and precise water quality analysis in aquaculture settings.

Synthetic opioids are the most common drugs involved in drug-involved overdose mortalities in the U.S. The Center for Disease Control and Prevention reported that in 2018, about 70% of all drug overdose deaths involved opioids and 67% of all opioid-involved deaths were accounted for by synthetic opioids. In this study, we investigated the spread of synthetic opioids between 2013 and 2020 in the U.S. We analyzed the relationship between the spatiotemporal pattern of synthetic opioid-involved deaths and another key opioid, heroin, and compared patterns of deaths involving these two types of drugs during this period. Spatial connections and human mobility between counties were incorporated into a graph convolutional neural network model to represent and analyze the spread of synthetic opioid-involved deaths in the context of previous heroin-involved death patterns.

Large language models (LLMs) have demonstrated remarkable performance across various real-world tasks. However, they often struggle to fully comprehend and effectively utilize their input contexts, resulting in responses that are unfaithful or hallucinated. This difficulty increases for contexts that are long or contain distracting information, which can divert LLMs from fully capturing essential evidence. To address this issue, many works use prompting to help LLMs utilize contextual information more faithfully. For instance, iterative prompting highlights key information in two steps that first ask the LLM to identify important pieces of context and then derive answers accordingly. However, prompting methods are constrained to highlighting key information implicitly in token space, which is often insufficient to fully steer the model's attention. To improve model faithfulness more reliably, we propose AutoPASTA, a method that automatically identifies key contextual information and explicitly highlights it by steering an LLM's attention scores. Like prompting, AutoPASTA is applied at inference time and does not require changing any model parameters. Our experiments on open-book QA demonstrate that AutoPASTA effectively enables models to grasp essential contextual information, leading to substantially improved model faithfulness and performance, e.g., an average improvement of 7.95% for LLAMA3-70B-Instruct. Code will be publicly available at https://github.com/QingruZhang/AutoPASTA .

Windstorms significantly impact the UK, causing extensive damage to property, disrupting society, and potentially resulting in loss of life. Accurate modelling and understanding of such events are essential for effective risk assessment and mitigation. However, the rarity of extreme windstorms results in limited observational data, which poses significant challenges for comprehensive analysis and insurance modelling. This dissertation explores the application of generative models to produce realistic synthetic wind field data, aiming to enhance the robustness of current CAT models used in the insurance industry. The study utilises hourly reanalysis data from the ERA5 dataset, which covers the period from 1940 to 2022. Three models, including standard GANs, WGAN-GP, and U-net diffusion models, were employed to generate high-quality wind maps of the UK. These models are then evaluated using multiple metrics, including SSIM, KL divergence, and EMD, with some assessments performed in a reduced dimensionality space using PCA. The results reveal that while all models are effective in capturing the general spatial characteristics, each model exhibits distinct strengths and weaknesses. The standard GAN introduced more noise compared to the other models. The WGAN-GP model demonstrated superior performance, particularly in replicating statistical distributions. The U-net diffusion model produced the most visually coherent outputs but struggled slightly in replicating peak intensities and their statistical variability. This research underscores the potential of generative models in supplementing limited reanalysis datasets with synthetic data, providing valuable tools for risk assessment and catastrophe modelling. However, it is important to select appropriate evaluation metrics that assess different aspects of the generated outputs. Future work could refine these models and incorporate more ...

Accurate estimates of surface solar irradiance (SSI) are essential for solar resource assessments and solar energy forecasts in grid integration and building control applications. SSI estimates for spatially extended regions can be retrieved from geostationary satellites such as Meteosat. Traditional SSI satellite retrievals like Heliosat rely on physical radiative transfer modelling. We introduce the first machine-learning-based satellite retrieval for instantaneous SSI and demonstrate its capability to provide accurate and generalizable SSI estimates across Europe. Our deep learning retrieval provides near real-time SSI estimates based on data-driven emulation of Heliosat and fine-tuning on pyranometer networks. By including SSI from ground stations, our SSI retrieval model can outperform Heliosat accuracy and generalize well to regions with other climates and surface albedos in cloudy conditions (clear-sky index < 0.8). We also show that the SSI retrieved from Heliosat exhibits large biases in mountain regions, and that training and fine-tuning our retrieval models on SSI data from ground stations strongly reduces these biases, outperforming Heliosat. Furthermore, we quantify the relative importance of the Meteosat channels and other predictor variables like solar zenith angle for the accuracy of our deep learning SSI retrieval model in different cloud conditions. We find that in cloudy conditions multiple near-infrared and infrared channels enhance the performance. Our results can facilitate the development of more accurate satellite retrieval models of surface solar irradiance.

Currently, inspired by the success of vision-language models (VLMs), an increasing number of researchers are focusing on improving VLMs and have achieved promising results. However, most existing methods concentrate on optimizing the connector and enhancing the language model component, while neglecting improvements to the vision encoder itself. In contrast, we propose Text Guided LLaVA (TG-LLaVA) in this paper, which optimizes VLMs by guiding the vision encoder with text, offering a new and orthogonal optimization direction. Specifically, inspired by the purpose-driven logic inherent in human behavior, we use learnable latent embeddings as a bridge to analyze textual instruction and add the analysis results to the vision encoder as guidance, refining it. Subsequently, another set of latent embeddings extracts additional detailed text-guided information from high-resolution local patches as auxiliary information. Finally, with the guidance of text, the vision encoder can extract text-related features, similar to how humans focus on the most relevant parts of an image when considering a question. This results in generating better answers. Experiments on various datasets validate the effectiveness of the proposed method. Remarkably, without the need for additional training data, our propsoed method can bring more benefits to the baseline (LLaVA-1.5) compared with other concurrent methods. Furthermore, the proposed method consistently brings improvement in different settings.

Oysters are a vital keystone species in coastal ecosystems, providing significant economic, environmental, and cultural benefits. As the importance of oysters grows, so does the relevance of autonomous systems for their detection and monitoring. However, current monitoring strategies often rely on destructive methods. While manual identification of oysters from video footage is non-destructive, it is time-consuming, requires expert input, and is further complicated by the challenges of the underwater environment. To address these challenges, we propose a novel pipeline using stable diffusion to augment a collected real dataset with realistic synthetic data. This method enhances the dataset used to train a YOLOv10-based vision model. The model is then deployed and tested on an edge platform in underwater robotics, achieving a state-of-the-art 0.657 mAP@50 for oyster detection on the Aqua2 platform.

This article presents a method for verifying RDF triples using LLMs, with an emphasis on providing traceable arguments. Because the LLMs cannot currently reliably identify the origin of the information used to construct the response to the user query, our approach is to avoid using internal LLM factual knowledge altogether. Instead, verified RDF statements are compared to chunks of external documents retrieved through a web search or Wikipedia. To assess the possible application of this workflow on biosciences content, we evaluated 1,719 positive statements from the BioRED dataset and the same number of newly generated negative statements. The resulting precision is 88%, and recall is 44%. This indicates that the method requires human oversight. We demonstrate the method on Wikidata, where a SPARQL query is used to automatically retrieve statements needing verification. Overall, the results suggest that LLMs could be used for large-scale verification of statements in KGs, a task previously unfeasible due to human annotation costs.

Lighthouses play a crucial role in ensuring maritime safety by signaling hazardous areas such as dangerous coastlines, shoals, reefs, and rocks, along with aiding harbor entries and aerial navigation. This is achieved through the use of photoresistor sensors that activate or deactivate based on the time of day. However, a significant issue is the potential malfunction of these sensors, leading to the gradual misalignment of the light's operational timing. This paper introduces an innovative machine learning-based approach for automatically detecting such malfunctions. We evaluate four distinct algorithms: decision trees, random forest, extreme gradient boosting, and multi-layer perceptron. Our findings indicate that the multi-layer perceptron is the most effective, capable of detecting timing discrepancies as small as 10-15 minutes. This accuracy makes it a highly efficient tool for automating the detection of faults in lighthouse light sensors.