Environment Animals Wildlife Endangered Species Death Valley National Park needs help ID'ing joyriding vandals A truck illegally tore through the California park, leaving five miles of tracks and damaging'sensitive desert plants.' Breakthroughs, discoveries, and DIY tips sent six days a week. Death Valley National Park officials are searching for a couple of brazen blockheads, and they could use your help finding them. Specifically, they're looking for at least two people last spotted in Eureka Dunes . The region located about 120 miles east of Fresno, California features what are likely the tallest sand dunes in North America.

Modular robotics holds immense potential for space exploration, where reliability, repairability, and reusability are critical for cost-effective missions. Coordination between heterogeneous units is paramount for precision tasks -- whether in manipulation, legged locomotion, or multi-robot interaction. Such modular systems introduce challenges far exceeding those in monolithic robot architectures. This study presents a robust method for synchronizing the trajectories of multiple heterogeneous actuators, adapting dynamically to system variations with minimal system knowledge. This design makes it inherently robot-agnostic, thus highly suited for modularity. To ensure smooth trajectory adherence, the multidimensional state is constrained within a hypersphere representing the allowable deviation. The distance metric can be adapted hence, depending on the task and system under control, deformation of the constraint region is possible. This approach is compatible with a wide range of robotic platforms and serves as a core interface for Motion-Stack, our new open-source universal framework for limb coordination (available at https://github.com/2lian/Motion-Stack ). The method is validated by synchronizing the end-effectors of six highly heterogeneous robotic limbs, evaluating both trajectory adherence and recovery from significant external disturbances.

This paper presents the software architecture and deployment strategy behind the MoonBot platform: a modular space robotic system composed of heterogeneous components distributed across multiple computers, networks and ultimately celestial bodies. We introduce a principled approach to distributed, heterogeneous modularity, extending modular robotics beyond physical reconfiguration to software, communication and orchestration. We detail the architecture of our system that integrates component-based design, a data-oriented communication model using ROS2 and Zenoh, and a deployment orchestrator capable of managing complex multi-module assemblies. These abstractions enable dynamic reconfiguration, decentralized control, and seamless collaboration between numerous operators and modules. At the heart of this system lies our open-source Motion Stack software, validated by months of field deployment with self-assembling robots, inter-robot cooperation, and remote operation. Our architecture tackles the significant hurdles of modular robotics by significantly reducing integration and maintenance overhead, while remaining scalable and robust. Although tested with space in mind, we propose generalizable patterns for designing robotic systems that must scale across time, hardware, teams and operational environments.

Scientific information expresses human understanding of nature. This knowledge is largely disseminated in different forms of text, including scientific papers, news articles, and discourse among people on social media. While important for accelerating our pursuit of knowledge, not all scientific text is faithful to the underlying science. As the volume of this text has burgeoned online in recent years, it has become a problem of societal importance to be able to identify the faithfulness of a given piece of scientific text automatically. This thesis is concerned with the cultivation of datasets, methods, and tools for machine understanding of scientific language, in order to analyze and understand science communication at scale. To arrive at this, I present several contributions in three areas of natural language processing and machine learning: automatic fact checking, learning with limited data, and scientific text processing. These contributions include new methods and resources for identifying check-worthy claims, adversarial claim generation, multi-source domain adaptation, learning from crowd-sourced labels, cite-worthiness detection, zero-shot scientific fact checking, detecting exaggerated scientific claims, and modeling degrees of information change in science communication. Critically, I demonstrate how the research outputs of this thesis are useful for effectively learning from limited amounts of scientific text in order to identify misinformative scientific statements and generate new insights into the science communication process

In digital heritage, effective management and preservation of digital data are crucial. Issues such as file corruption, media obsolescence, and inadequate metadata must be addressed, alongside data migration when software becomes outdated and thorough data curation to aid current and future researchers in searching, citing, and reusing historical data. Merely archiving or backing up project data is not enough for long-term preservation. It is essential to ensure that primary data remain reusable, compatible with evolving operating systems, and accompanied by comprehensive metadata detailing their creation and history [1]. Despite the advantage of heritage datasets being "born digital," they are still susceptible to loss if file associations and metadata are not properly maintained. The large volume of data generated from digital projects and the often limited understanding of file associations among project members jeopardise the future reuse of archaeological data if not well-organised or curated. Enhancing workflows to include both metadata authorship and preservation is vital to prevent information loss and digital data obsolescence. Particularly, the long-term preservation of 3D datasets requires maintaining each file in a usable and uncorrupted state. Files undergo several modifications, changing formats during the creation of the final scan or 3D model, known as an asset.

Recent advances in text-guided image compression have shown great potential to enhance the perceptual quality of reconstructed images. These methods, however, tend to have significantly degraded pixel-wise fidelity, limiting their practicality. To fill this gap, we develop a new text-guided image compression algorithm that achieves both high perceptual and pixel-wise fidelity. In particular, we propose a compression framework that leverages text information mainly by text-adaptive encoding and training with joint image-text loss. By doing so, we avoid decoding based on text-guided generative models -- known for high generative diversity -- and effectively utilize the semantic information of text at a global level. Experimental results on various datasets show that our method can achieve high pixel-level and perceptual quality, with either human- or machine-generated captions. In particular, our method outperforms all baselines in terms of LPIPS, with some room for even more improvements when we use more carefully generated captions.

The exploration of the lunar poles and the collection of samples from the martian surface are characterized by shorter time windows demanding increased autonomy and speeds. Autonomous mobile robots must intrinsically cope with a wider range of disturbances. Faster off-road navigation has been explored for terrestrial applications but the combined effects of increased speeds and reduced gravity fields are yet to be fully studied. In this paper, we design and demonstrate a novel fully passive suspension design for wheeled planetary robots, which couples for the first time a high-range passive rocker with elastic in-wheel coil-over shock absorbers. The design was initially conceived and verified in a reduced-gravity (1.625 m/s${^2}$) simulated environment, where three different passive suspension configurations were evaluated against steep slopes and unexpected obstacles, and later prototyped and validated in a series of field tests. The proposed mechanically-hybrid suspension proves to mitigate more effectively the negative effects (high-frequency/high-amplitude vibrations and impact loads) of faster locomotion (~1\,m/s) over unstructured terrains under varied gravity fields.

We propose InDEX, an Indonesian Idiom and Expression dataset for cloze test. The dataset contains 10438 unique sentences for 289 idioms and expressions for which we generate 15 different types of distractors, resulting in a large cloze-style corpus. Many baseline models of cloze test reading comprehension apply BERT with random initialization to learn embedding representation. But idioms and fixed expressions are different such that the literal meaning of the phrases may or may not be consistent with their contextual meaning. Therefore, we explore different ways to combine static and contextual representations for a stronger baseline model. Experimentations show that combining definition and random initialization will better support cloze test model performance for idioms whether independently or mixed with fixed expressions. While for fixed expressions with no special meaning, static embedding with random initialization is sufficient for cloze test model.

Recent work has investigated the distributions of learned convolution filters through a large-scale study containing hundreds of heterogeneous image models. Surprisingly, on average, the distributions only show minor drifts in comparisons of various studied dimensions including the learned task, image domain, or dataset. However, among the studied image domains, medical imaging models appeared to show significant outliers through "spikey" distributions, and, therefore, learn clusters of highly specific filters different from other domains. Following this observation, we study the collected medical imaging models in more detail. We show that instead of fundamental differences, the outliers are due to specific processing in some architectures. Quite the contrary, for standardized architectures, we find that models trained on medical data do not significantly differ in their filter distributions from similar architectures trained on data from other domains. Our conclusions reinforce previous hypotheses stating that pre-training of imaging models can be done with any kind of diverse image data.

Recently introduced transformer-based article encoders (TAEs) designed to produce similar vector representations for mutually related scientific articles have demonstrated strong performance on benchmark datasets for scientific article recommendation. However, the existing benchmark datasets are predominantly focused on single domains and, in some cases, contain easy negatives in small candidate pools. Evaluating representations on such benchmarks might obscure the realistic performance of TAEs in setups with thousands of articles in candidate pools. In this work, we evaluate TAEs on large benchmarks with more challenging candidate pools. We compare the performance of TAEs with a lexical retrieval baseline model BM25 on the task of citation recommendation, where the model produces a list of recommendations for citing in a given input article. We find out that BM25 is still very competitive with the state-of-the-art neural retrievers, a finding which is surprising given the strong performance of TAEs on small benchmarks. As a remedy for the limitations of the existing benchmarks, we propose a new benchmark dataset for evaluating scientific article representations: Multi-Domain Citation Recommendation dataset (MDCR), which covers different scientific fields and contains challenging candidate pools.