Terrain elevation modeling for off-road navigation aims to accurately estimate changes in terrain geometry in real-time and quantify the corresponding uncertainties. Having precise estimations and uncertainties plays a crucial role in planning and control algorithms to explore safe and reliable maneuver strategies. However, existing approaches, such as Gaussian Processes (GPs) and neural network-based methods, often fail to meet these needs. They are either unable to perform in real-time due to high computational demands, underestimating sharp geometry changes, or harming elevation accuracy when learned with uncertainties. Recently, Neural Processes (NPs) have emerged as a promising approach that integrates the Bayesian uncertainty estimation of GPs with the efficiency and flexibility of neural networks. Inspired by NPs, we propose an effective NP-based method that precisely estimates sharp elevation changes and quantifies the corresponding predictive uncertainty without losing elevation accuracy. Our method leverages semantic features from LiDAR and camera sensors to improve interpolation and extrapolation accuracy in unobserved regions. Also, we introduce a local ball-query attention mechanism to effectively reduce the computational complexity of global attention by 17\% while preserving crucial local and spatial information. We evaluate our method on off-road datasets having interesting geometric features, collected from trails, deserts, and hills. Our results demonstrate superior performance over baselines and showcase the potential of neural processes for effective and expressive terrain modeling in complex off-road environments.

Insufficient amounts of available training data is a critical challenge for both development and deployment of artificial intelligence and machine learning (AI/ML) models. This paper proposes a unified approach to both synthetic data generation (SDG) and automated data labeling (ADL) with a unified SDG-ADL algorithm. SDG-ADL uses multidimensional (n-D) representations of data visualized losslessly with General Line Coordinates (GLCs), relying on reversible GLC properties to visualize n-D data in multiple GLCs. This paper demonstrates use of the new Circular Coordinates in Static and Dynamic forms, used with Parallel Coordinates and Shifted Paired Coordinates, since each GLC exemplifies unique data properties, such as interattribute n-D distributions and outlier detection. The approach is interactively implemented in computer software with the Dynamic Coordinates Visualization system (DCVis). Results with real data are demonstrated in case studies, evaluating impact on classifiers.

In machine learning, concept drift is an evolution of information that invalidates the current data model. It happens when the statistical properties of the input data change over time in unforeseen ways. Concept drift detection is crucial when dealing with dynamically changing data. Its visualization can bring valuable insight into the data dynamics, especially for multidimensional data, and is related to visual knowledge discovery. We propose a novel visualization model based on parallel coordinates, denoted as parallel histograms through time. Our model represents histograms of feature distributions for successive time-shifted windows. The drift is shown as variations of these histograms, obtained by connecting the means of the distribution for successive time windows. We show how these diagrams can be used to explain the decision made by the machine learning model in choosing the drift point. By isolating the drift at the edges of successive time windows, there will be none (or reduced) drift within the adjacent windows. We illustrate this concept on both synthetic and real datasets. In our experiments, we use an incremental/decremental SVM with shifting window, introduced by us in previous work. With our proposed technique, in addition to detect the presence of concept drift, we can also depict it. This information can be further used to explain the change. mental results, opening the possibility for further investigations.

In recent years, the fields of Music Information Retrieval (MIR) and Music Emotion Recognition (MER) have received significant attention, leading to multiple advances in how music is analyzed [1, 2]. These developments have increased the accuracy in determining what emotions are present in a given music sample, but the current state of the art is only now passing 75% through the use of Random Forest and Support Vector Machine models [3]. This is in contrast to the field of speech recognition, where current models are approaching 100% accuracy across hundreds of languages for word identification [4] and 85% for standard speech emotion recognition [5]. The additional challenges in music recognition come from the nature of music itself as the lyrical and emotional content of a vocalist's contribution are only one part of the whole. Tempo, rhythm, timbre, instrumentation choice, perceived genre, and other factors contribute together to shape the emotional and tonal landscape of any given work into a unique blend that is interpreted subjectively by individual listeners [6]. The goal of our paper is to show that by changing the underlying structure of a small subset of musical features of any given musical piece, we can adjust the perceived emotional content of the work towards a specific desired emotion.

Graph Convolutional Networks (GCN) are Graph Neural Networks where the convolutions are applied over a graph. In contrast to Convolutional Neural Networks, GCN's are designed to perform inference on graphs, where the number of nodes can vary, and the nodes are unordered. In this study, we address two important challenges related to GCNs: i) oversmoothing; and ii) the utilization of node relational properties (i.e., heterophily and homophily). Oversmoothing is the degradation of the discriminative capacity of nodes as a result of repeated aggregations. Heterophily is the tendency for nodes of different classes to connect, whereas homophily is the tendency of similar nodes to connect. We propose a new strategy for addressing these challenges in GCNs based on Transfer Entropy (TE), which measures of the amount of directed transfer of information between two time varying nodes. Our findings indicate that using node heterophily and degree information as a node selection mechanism, along with feature-based TE calculations, enhances accuracy across various GCN models. Our model can be easily modified to improve classification accuracy of a GCN model. As a trade off, this performance boost comes with a significant computational overhead when the TE is computed for many graph nodes.

Recently, there is a growing interest in applying Transfer Entropy (TE) in quantifying the effective connectivity between artificial neurons. In a feedforward network, the TE can be used to quantify the relationships between neuron output pairs located in different layers. Our focus is on how to include the TE in the learning mechanisms of a Convolutional Neural Network (CNN) architecture. We introduce a novel training mechanism for CNN architectures which integrates the TE feedback connections. Adding the TE feedback parameter accelerates the training process, as fewer epochs are needed. On the flip side, it adds computational overhead to each epoch. According to our experiments on CNN classifiers, to achieve a reasonable computational overhead--accuracy trade-off, it is efficient to consider only the inter-neural information transfer of a random subset of the neuron pairs from the last two fully connected layers. The TE acts as a smoothing factor, generating stability and becoming active only periodically, not after processing each input sample. Therefore, we can consider the TE is in our model a slowly changing meta-parameter.

In a feedforward network, Transfer Entropy (TE) can be used to measure the influence that one layer has on another by quantifying the information transfer between them during training. According to the Information Bottleneck principle, a neural model's internal representation should compress the input data as much as possible while still retaining sufficient information about the output. Information Plane analysis is a visualization technique used to understand the trade-off between compression and information preservation in the context of the Information Bottleneck method by plotting the amount of information in the input data against the compressed representation. The claim that there is a causal link between information-theoretic compression and generalization, measured by mutual information, is plausible, but results from different studies are conflicting. In contrast to mutual information, TE can capture temporal relationships between variables. To explore such links, in our novel approach we use TE to quantify information transfer between neural layers and perform Information Plane analysis. We obtained encouraging experimental results, opening the possibility for further investigations.

Interpretable interactive visual pattern discovery in lossless 3D visualization is a promising way to advance machine learning. It enables end users who are not data scientists to take control of the model development process as a self-service. It is conducted in 3D General Line Coordinates (GLC) visualization space, which preserves all n-D information in 3D. This paper presents a system which combines three types of GLC: Shifted Paired Coordinates (SPC), Shifted Tripled Coordinates (STC), and General Line Coordinates-Linear (GLC-L) for interactive visual pattern discovery. A transition from 2-D visualization to 3-D visualization allows for a more distinct visual pattern than in 2-D and it also allows for finding the best data viewing positions, which are not available in 2-D. It enables in-depth visual analysis of various class-specific data subsets comprehensible for end users in the original interpretable attributes. Controlling model overgeneralization by end users is an additional benefit of this approach.