Advances in in computer vision have lead to classifiers that nearly match human performance in many applications. However, while the human visual system is remarkably versatile in extracting semantic meaning out of even degraded and heavily obfuscated images, today's visual classifiers significantly lag behind in emulating the same robustness, and often yield incorrect outputs in the presence of natural and adversarial degradations.

While the ImageNet dataset has been driving computer vision research over the past decade, significant label noise and ambiguity have made top-1 accuracy an insufficient measure of further progress.

Bayesian networks are among the most prominent graphical models for probability distributions.

Abstract--Autonomous robots rely on geometric maps to inform a diverse set of perception and decision-making algorithms. As autonomy requires reasoning and planning on multiple scales of the environment, each algorithm may require a different map for optimal performance. Light Detection And Ranging (LiDAR) sensors generate an abundance of geometric data to satisfy these diverse requirements, but selecting informative, size-constrained maps is computationally challenging as it requires solving an NP-hard combinatorial optimization. In this work we present OptMap: a geometric map distillation algorithm which achieves real-time, application-specific map generation via multiple theoretical and algorithmic innovations. A central feature is the maximization of set functions that exhibit diminishing returns, i.e., submodularity, using polynomial-time algorithms with provably near-optimal solutions. We formulate a novel submodular reward function which quantifies informativeness, reduces input set sizes, and minimizes bias in sequentially collected datasets. Further, we propose a dynamically reordered streaming submod-ular algorithm which improves empirical solution quality and addresses input order bias via an online approximation of the value of all scans. T esting was conducted on open-source and custom datasets with an emphasis on long-duration mapping sessions, highlighting OptMap's minimal computation requirements. Open-source ROS1 and ROS2 packages are available and can be used alongside any LiDAR SLAM algorithm. ODERN autonomous systems use a modular software architecture with separate algorithms for perceiving the environment, planning collision-free paths, estimating vehicle motion, and making higher-level decisions to complete their tasks. Many of these algorithms depend on geometric information about the environment to function properly. As a result, their performance and processing time can vary greatly depending on the quality of the geometric data. For example, trajectory planners use geometric maps to plan collision-free paths, but the density of geometric data is critical for balancing real-time replanning requirements against reliable collision detection. This trade-off is best served by dense geometric maps that specifically capture the intended trajectory corridor (Figure 1a). In contrast, localization entails aligning a source and reference point cloud, a process best served by using a sparse and global reference point could to minimize computation time while maximizing alignment accuracy (Figure 1b). Distribution Statement A: Approved for public release; distribution is unlimited. Map is dense while remaining efficient as only points near the intended trajectory are returned.

Large-scale disasters can often result in catastrophic consequences on people and infrastructure. Situation awareness about such disaster impacts generated by authoritative data from in-situ sensors, remote sensing imagery, and/or geographic data is often limited due to atmospheric opacity, satellite revisits, and time limitations. This often results in geo-temporal information gaps. In contrast, impact-related social media posts can act as "geo-sensors" during a disaster, where people describe specific impacts and locations. However, not all locations mentioned in disaster-related social media posts relate to an impact. Only the impacted locations are critical for directing resources effectively. e.g., "The death toll from a fire which ripped through the Greek coastal town of #Mati stood at 80, with dozens of people unaccounted for as forensic experts tried to identify victims who were burned alive #Greecefires #AthensFires #Athens #Greece." contains impacted location "Mati" and non-impacted locations "Greece" and "Athens". This research uses Large Language Models (LLMs) to identify all locations, impacts and impacted locations mentioned in disaster-related social media posts. In the process, LLMs are fine-tuned to identify only impacts and impacted locations (as distinct from other, non-impacted locations), including locations mentioned in informal expressions, abbreviations, and short forms. Our fine-tuned model demonstrates efficacy, achieving an F1-score of 0.69 for impact and 0.74 for impacted location extraction, substantially outperforming the pre-trained baseline. These robust results confirm the potential of fine-tuned language models to offer a scalable solution for timely decision-making in resource allocation, situational awareness, and post-disaster recovery planning for responders.

Beyond a simple notification of incoming calls or messages, more complex information such as alphabets and digits can be delivered through spatiotemporal tactile patterns (STPs) on a wrist-worn tactile display (WTD) with multiple tactors. However, owing to the limited skin area and spatial acuity of the wrist, frequent confusions occur between closely located tactors, resulting in a low recognition accuracy. Furthermore, the accuracies reported in previous studies have mostly been measured for a specific posture and could further decrease with free arm postures in real life. Herein, we present Heterogeneous Stroke, a design concept for improving the recognition accuracy of STPs on a WTD. By assigning unique vibrotactile stimuli to each tactor, the confusion between tactors can be reduced. Through our implementation of Heterogeneous Stroke, the alphanumeric characters could be delivered with high accuracy (93.8% for 26 alphabets and 92.4% for 10 digits) across different arm postures.

Over the last years collaborative robots have gained great success in manufacturing applications where human and robot work together in close proximity. However, current ISO/TS-15066-compliant implementations often limit the efficiency of collaborative tasks due to conservative speed restrictions. For this reason, this paper introduces a deep-learning-based human-robot-safety framework (HRSF) that aims at a dynamical adaptation of robot velocities depending on the separation distance between human and robot while respecting maximum biomechanical force and pressure limits. The applicability of the framework was investigated for four different deep learning approaches that can be used for human body extraction: human body recognition, human body segmentation, human pose estimation, and human body part segmentation. Unlike conventional industrial safety systems, the proposed HRSF differentiates individual human body parts from other objects, enabling optimized robot process execution. Experiments demonstrated a quantitative reduction in cycle time of up to 15% compared to conventional safety technology.

Linear Dynamical Systems (LDSs) are fundamental tools for modeling spatiotemporal data in various disciplines.