Forexample, areal-time communications service maybeinterested in tuning the parameters of a control policy to adapt video quality in real time in order to maximize video quality and minimize latency [10, 17].

With the growing interest in underwater exploration and monitoring, Autonomous Underwater Vehicles (AUVs) have become essential. The recent interest in onboard Deep Learning (DL) has advanced real-time environmental interaction capabilities relying on efficient and accurate vision-based DL models. However, the predominant use of sonar in underwater environments, characterized by limited training data and inherent noise, poses challenges to model robustness. This autonomy improvement raises safety concerns for deploying such models during underwater operations, potentially leading to hazardous situations. This paper aims to provide the first comprehensive overview of sonar-based DL under the scope of robustness. It studies sonar-based DL perception task models, such as classification, object detection, segmentation, and SLAM. Furthermore, the paper systematizes sonar-based state-of-the-art datasets, simulators, and robustness methods such as neural network verification, out-of-distribution, and adversarial attacks. This paper highlights the lack of robustness in sonar-based DL research and suggests future research pathways, notably establishing a baseline sonar-based dataset and bridging the simulation-to-reality gap.

The observation of the advancing and retreating pattern of polar sea ice cover stands as a vital indicator of global warming. This research aims to develop a robust, effective, and scalable system for classifying polar sea ice as thick/snow-covered, young/thin, or open water using Sentinel-2 (S2) images. Since the S2 satellite is actively capturing high-resolution imagery over the earth's surface, there are lots of images that need to be classified. One major obstacle is the absence of labeled S2 training data (images) to act as the ground truth. We demonstrate a scalable and accurate method for segmenting and automatically labeling S2 images using carefully determined color thresholds. We employ a parallel workflow using PySpark to scale and achieve 9-fold data loading and 16-fold map-reduce speedup on auto-labeling S2 images based on thin cloud and shadow-filtered color-based segmentation to generate label data. The auto-labeled data generated from this process are then employed to train a U-Net machine learning model, resulting in good classification accuracy. As training the U-Net classification model is computationally heavy and time-consuming, we distribute the U-Net model training to scale it over 8 GPUs using the Horovod framework over a DGX cluster with a 7.21x speedup without affecting the accuracy of the model. Using the Antarctic's Ross Sea region as an example, the U-Net model trained on auto-labeled data achieves a classification accuracy of 98.97% for auto-labeled training datasets when the thin clouds and shadows from the S2 images are filtered out.

Sea surface temperature (SST) is uniquely important to the Earth's atmosphere since its dynamics are a major force in shaping local and global climate and profoundly affect our ecosystems. Accurate forecasting of SST brings significant economic and social implications, for example, better preparation for extreme weather such as severe droughts or tropical cyclones months ahead. However, such a task faces unique challenges due to the intrinsic complexity and uncertainty of ocean systems. Recently, deep learning techniques, such as graphical neural networks (GNN), have been applied to address this task. Even though these methods have some success, they frequently have serious drawbacks when it comes to investigating dynamic spatiotemporal dependencies between signals. To solve this problem, this paper proposes a novel static and dynamic learnable personalized graph convolution network (SD-LPGC). Specifically, two graph learning layers are first constructed to respectively model the stable long-term and short-term evolutionary patterns hidden in the multivariate SST signals. Then, a learnable personalized convolution layer is designed to fuse this information. Our experiments on real SST datasets demonstrate the state-of-the-art performances of the proposed approach on the forecasting task.

Global warming is an urgent issue that is generating catastrophic environmental changes, such as the melting of sea ice and glaciers, particularly in the polar regions. The melting pattern and retreat of polar sea ice cover is an essential indicator of global warming. The Sentinel-2 satellite (S2) captures high-resolution optical imagery over the polar regions. This research aims at developing a robust and effective system for classifying polar sea ice as thick or snow-covered, young or thin, or open water using S2 images. A key challenge is the lack of labeled S2 training data to serve as the ground truth. We demonstrate a method with high precision to segment and automatically label the S2 images based on suitably determined color thresholds and employ these auto-labeled data to train a U-Net machine model (a fully convolutional neural network), yielding good classification accuracy. Evaluation results over S2 data from the polar summer season in the Ross Sea region of the Antarctic show that the U-Net model trained on auto-labeled data has an accuracy of 90.18% over the original S2 images, whereas the U-Net model trained on manually labeled data has an accuracy of 91.39%. Filtering out the thin clouds and shadows from the S2 images further improves U-Net's accuracy, respectively, to 98.97% for auto-labeled and 98.40% for manually labeled training datasets.

Multi-hop Question Generation is the task of generating questions which require the reader to reason over and combine information spread across multiple passages using several reasoning steps. Chain-of-thought rationale generation has been shown to improve performance on multi-step reasoning tasks and make model predictions more interpretable. However, few-shot performance gains from including rationales have been largely observed only in +100B language models, and otherwise require large scale manual rationale annotation. In this work, we introduce a new framework for applying chain-of-thought inspired structured rationale generation to multi-hop question generation under a very low supervision regime (8- to 128-shot). We propose to annotate a small number of examples following our proposed multi-step rationale schema, treating each reasoning step as a separate task to be performed by a generative language model. We show that our framework leads to improved control over the difficulty of the generated questions and better performance compared to baselines trained without rationales, both on automatic evaluation metrics and in human evaluation. Importantly, we show that this is achievable with a modest model size.

Optimisation problems often have multiple conflicting objectives that can be computationally and/or financially expensive. Mono-surrogate Bayesian optimisation (BO) is a popular model-based approach for optimising such black-box functions. It combines objective values via scalarisation and builds a Gaussian process (GP) surrogate of the scalarised values. The location which maximises a cheap-to-query acquisition function is chosen as the next location to expensively evaluate. While BO is an effective strategy, the use of GPs is limiting. Their performance decreases as the problem input dimensionality increases, and their computational complexity scales cubically with the amount of data. To address these limitations, we extend previous work on BO by density-ratio estimation (BORE) to the multi-objective setting. BORE links the computation of the probability of improvement acquisition function to that of probabilistic classification. This enables the use of state-of-the-art classifiers in a BO-like framework. In this work we present MBORE: multi-objective Bayesian optimisation by density-ratio estimation, and compare it to BO across a range of synthetic and real-world benchmarks. We find that MBORE performs as well as or better than BO on a wide variety of problems, and that it outperforms BO on high-dimensional and real-world problems.

Ocean fronts can cause the accumulation of nutrients and affect the propagation of underwater sound, so high-precision ocean front detection is of great significance to the marine fishery and national defense fields. However, the current ocean front detection methods either have low detection accuracy or most can only detect the occurrence of ocean front by binary classification, rarely considering the differences of the characteristics of multiple ocean fronts in different sea areas. In order to solve the above problems, we propose a semantic segmentation network called location and seasonality enhanced network (LSENet) for multi-class ocean fronts detection at pixel level. In this network, we first design a channel supervision unit structure, which integrates the seasonal characteristics of the ocean front itself and the contextual information to improve the detection accuracy. We also introduce a location attention mechanism to adaptively assign attention weights to the fronts according to their frequently occurred sea area, which can further improve the accuracy of multi-class ocean front detection. Compared with other semantic segmentation methods and current representative ocean front detection method, the experimental results demonstrate convincingly that our method is more effective.

Optimizing multiple competing black-box objectives is a challenging problem in many fields, including science, engineering, and machine learning. Multi-objective Bayesian optimization is a powerful approach for identifying the optimal trade-offs between the objectives with very few function evaluations. However, existing methods tend to perform poorly when observations are corrupted by noise, as they do not take into account uncertainty in the true Pareto frontier over the previously evaluated designs. We propose a novel acquisition function, NEHVI, that overcomes this important practical limitation by applying a Bayesian treatment to the popular expected hypervolume improvement criterion to integrate over this uncertainty in the Pareto frontier. We further argue that, even in the noiseless setting, the problem of generating multiple candidates in parallel reduces that of handling uncertainty in the Pareto frontier. Through this lens, we derive a natural parallel variant of NEHVI that can efficiently generate large batches of candidates. We provide a theoretical convergence guarantee for optimizing a Monte Carlo estimator of NEHVI using exact sample-path gradients. Empirically, we show that NEHVI achieves state-of-the-art performance in noisy and large-batch environments.