In this work, we propose the use of Ground Penetrating Radar (GPR) for rover localization on Mars. Precise pose estimation is an important task for mobile robots exploring planetary surfaces, as they operate in GPS-denied environments. Although visual odometry provides accurate localization, it is computationally expensive and can fail in dim or high-contrast lighting. Wheel encoders can also provide odometry estimation, but are prone to slipping on the sandy terrain encountered on Mars. Although traditionally a scientific surveying sensor, GPR has been used on Earth for terrain classification and localization through subsurface feature matching. The Perseverance rover and the upcoming ExoMars rover have GPR sensors already equipped to aid in the search of water and mineral resources. We propose to leverage GPR to aid in Mars rover localization. Specifically, we develop a novel GPR-based deep learning model that predicts 1D relative pose translation. We fuse our GPR pose prediction method with inertial and wheel encoder data in a filtering framework to output rover localization. We perform experiments in a Mars analog environment and demonstrate that our GPR-based displacement predictions both outperform wheel encoders and improve multi-modal filtering estimates in high-slip environments. Lastly, we present the first dataset aimed at GPR-based localization in Mars analog environments, which will be made publicly available upon publication.

Unsupervised feature selection (UFS) has recently gained attention for its effectiveness in processing unlabeled high-dimensional data. However, existing methods overlook the intrinsic causal mechanisms within the data, resulting in the selection of irrelevant features and poor interpretability. Additionally, previous graph-based methods fail to account for the differing impacts of non-causal and causal features in constructing the similarity graph, which leads to false links in the generated graph. To address these issues, a novel UFS method, called Causally-Aware UnSupErvised Feature Selection learning (CAUSE-FS), is proposed. CAUSE-FS introduces a novel causal regularizer that reweights samples to balance the confounding distribution of each treatment feature. This regularizer is subsequently integrated into a generalized unsupervised spectral regression model to mitigate spurious associations between features and clustering labels, thus achieving causal feature selection. Furthermore, CAUSE-FS employs causality-guided hierarchical clustering to partition features with varying causal contributions into multiple granularities. By integrating similarity graphs learned adaptively at different granularities, CAUSE-FS increases the importance of causal features when constructing the fused similarity graph to capture the reliable local structure of data. Extensive experimental results demonstrate the superiority of CAUSE-FS over state-of-the-art methods, with its interpretability further validated through feature visualization.

Tabular data is one of the most widely used formats across industries, driving critical applications in areas such as finance, healthcare, and marketing. In the era of data-centric AI, improving data quality and representation has become essential for enhancing model performance, particularly in applications centered around tabular data. This survey examines the key aspects of tabular data-centric AI, emphasizing feature selection and feature generation as essential techniques for data space refinement. We provide a systematic review of feature selection methods, which identify and retain the most relevant data attributes, and feature generation approaches, which create new features to simplify the capture of complex data patterns. This survey offers a comprehensive overview of current methodologies through an analysis of recent advancements, practical applications, and the strengths and limitations of these techniques. Finally, we outline open challenges and suggest future perspectives to inspire continued innovation in this field.

The electrocardiogram (ECG) is an inexpensive and widely available tool for cardiovascular assessment. Despite its standardized format and small file size, the high complexity and inter-individual variability of ECG signals (typically a 60,000-size vector) make it challenging to use in deep learning models, especially when only small datasets are available. This study addresses these challenges by exploring feature generation methods from representative beat ECGs, focusing on Principal Component Analysis (PCA) and Autoencoders to reduce data complexity. We introduce three novel Variational Autoencoder (VAE) variants: Stochastic Autoencoder (SAE), Annealed beta-VAE (Abeta-VAE), and cyclical beta-VAE (Cbeta-VAE), and compare their effectiveness in maintaining signal fidelity and enhancing downstream prediction tasks. The Abeta-VAE achieved superior signal reconstruction, reducing the mean absolute error (MAE) to 15.7 plus-minus 3.2 microvolts, which is at the level of signal noise. Moreover, the SAE encodings, when combined with ECG summary features, improved the prediction of reduced Left Ventricular Ejection Fraction (LVEF), achieving an area under the receiver operating characteristic curve (AUROC) of 0.901. This performance nearly matches the 0.910 AUROC of state-of-the-art CNN models but requires significantly less data and computational resources. Our findings demonstrate that these VAE encodings are not only effective in simplifying ECG data but also provide a practical solution for applying deep learning in contexts with limited-scale labeled training data.

Prior research has demonstrated the effectiveness of end-to-end deep learning for robotic navigation, where the control signals are directly derived from raw sensory data. However, the majority of existing end-to-end navigation solutions are predominantly camera-based. In this paper, we introduce TinyLidarNet, a lightweight 2D LiDAR-based end-to-end deep learning model for autonomous racing. An F1TENTH vehicle using TinyLidarNet won 3rd place in the 12th F1TENTH Autonomous Grand Prix competition, demonstrating its competitive performance. We systematically analyze its performance on untrained tracks and computing requirements for real-time processing. We find that TinyLidarNet's 1D Convolutional Neural Network (CNN) based architecture significantly outperforms widely used Multi-Layer Perceptron (MLP) based architecture. In addition, we show that it can be processed in real-time on low-end micro-controller units (MCUs).

Semi-supervised multi-label feature selection has recently been developed to solve the curse of dimensionality problem in high-dimensional multi-label data with certain samples missing labels. Although many efforts have been made, most existing methods use a predefined graph approach to capture the sample similarity or the label correlation. In this manner, the presence of noise and outliers within the original feature space can undermine the reliability of the resulting sample similarity graph. It also fails to precisely depict the label correlation due to the existence of unknown labels. Besides, these methods only consider the discriminative power of selected features, while neglecting their redundancy. In this paper, we propose an Adaptive Collaborative Correlation lEarning-based Semi-Supervised Multi-label Feature Selection (Access-MFS) method to address these issues. Specifically, a generalized regression model equipped with an extended uncorrelated constraint is introduced to select discriminative yet irrelevant features and maintain consistency between predicted and ground-truth labels in labeled data, simultaneously. Then, the instance correlation and label correlation are integrated into the proposed regression model to adaptively learn both the sample similarity graph and the label similarity graph, which mutually enhance feature selection performance. Extensive experimental results demonstrate the superiority of the proposed Access-MFS over other state-of-the-art methods.

Feature transformation is to derive a new feature set from original features to augment the AI power of data. In many science domains such as material performance screening, while feature transformation can model material formula interactions and compositions and discover performance drivers, supervised labels are collected from expensive and lengthy experiments. This issue motivates an Unsupervised Feature Transformation Learning (UFTL) problem. Prior literature, such as manual transformation, supervised feedback guided search, and PCA, either relies on domain knowledge or expensive supervised feedback, or suffers from large search space, or overlooks non-linear feature-feature interactions. UFTL imposes a major challenge on existing methods: how to design a new unsupervised paradigm that captures complex feature interactions and avoids large search space? To fill this gap, we connect graph, contrastive, and generative learning to develop a measurement-pretrain-finetune paradigm for UFTL. For unsupervised feature set utility measurement, we propose a feature value consistency preservation perspective and develop a mean discounted cumulative gain like unsupervised metric to evaluate feature set utility. For unsupervised feature set representation pretraining, we regard a feature set as a feature-feature interaction graph, and develop an unsupervised graph contrastive learning encoder to embed feature sets into vectors. For generative transformation finetuning, we regard a feature set as a feature cross sequence and feature transformation as sequential generation. We develop a deep generative feature transformation model that coordinates the pretrained feature set encoder and the gradient information extracted from a feature set utility evaluator to optimize a transformed feature generator.

We introduce a hybrid quantum-classical vision transformer architecture, notable for its integration of variational quantum circuits within both the attention mechanism and the multi-layer perceptrons. The research addresses the critical challenge of computational efficiency and resource constraints in analyzing data from the upcoming High Luminosity Large Hadron Collider, presenting the architecture as a potential solution. In particular, we evaluate our method by applying the model to multi-detector jet images from CMS Open Data. The goal is to distinguish quark-initiated from gluon-initiated jets. We successfully train the quantum model and evaluate it via numerical simulations. Using this approach, we achieve classification performance almost on par with the one obtained with the completely classical architecture, considering a similar number of parameters.

Aphid infestations are one of the primary causes of extensive damage to wheat and sorghum fields and are one of the most common vectors for plant viruses, resulting in significant agricultural yield losses. To address this problem, farmers often employ the inefficient use of harmful chemical pesticides that have negative health and environmental impacts. As a result, a large amount of pesticide is wasted on areas without significant pest infestation. This brings to attention the urgent need for an intelligent autonomous system that can locate and spray sufficiently large infestations selectively within the complex crop canopies. We have developed a large multi-scale dataset for aphid cluster detection and segmentation, collected from actual sorghum fields and meticulously annotated to include clusters of aphids. Our dataset comprises a total of 54,742 image patches, showcasing a variety of viewpoints, diverse lighting conditions, and multiple scales, highlighting its effectiveness for real-world applications. In this study, we trained and evaluated four real-time semantic segmentation models and three object detection models specifically for aphid cluster segmentation and detection. Considering the balance between accuracy and efficiency, Fast-SCNN delivered the most effective segmentation results, achieving 80.46% mean precision, 81.21% mean recall, and 91.66 frames per second (FPS). For object detection, RT-DETR exhibited the best overall performance with a 61.63% mean average precision (mAP), 92.6% mean recall, and 72.55 on an NVIDIA V100 GPU. Our experiments further indicate that aphid cluster segmentation is more suitable for assessing aphid infestations than using detection models.

Generative AI models can produce high-quality images based on text prompts. The generated images often appear indistinguishable from images generated by conventional optical photography devices or created by human artists (i.e., real images). While the outstanding performance of such generative models is generally well received, security concerns arise. For instance, such image generators could be used to facilitate fraud or scam schemes, generate and spread misinformation, or produce fabricated artworks. In this paper, we present a systematic attempt at understanding and detecting AI-generated images (AI-art) in adversarial scenarios. First, we collect and share a dataset of real images and their corresponding artificial counterparts generated by four popular AI image generators. The dataset, named ARIA, contains over 140K images in five categories: artworks (painting), social media images, news photos, disaster scenes, and anime pictures. This dataset can be used as a foundation to support future research on adversarial AI-art. Next, we present a user study that employs the ARIA dataset to evaluate if real-world users can distinguish with or without reference images. In a benchmarking study, we further evaluate if state-of-the-art open-source and commercial AI image detectors can effectively identify the images in the ARIA dataset. Finally, we present a ResNet-50 classifier and evaluate its accuracy and transferability on the ARIA dataset.