This paper proposes a novel control framework for agile and robust bipedal locomotion, addressing model discrepancies between full-body and reduced-order models. Specifically, assumptions such as constant centroidal inertia have introduced significant challenges and limitations in locomotion tasks. To enhance the agility and versatility of full-body humanoid robots, we formalize a Model Predictive Control (MPC) problem that accounts for the variable centroidal inertia of humanoid robots within a convex optimization framework, ensuring computational efficiency for real-time operations. In the proposed formulation, we incorporate a centroidal inertia network designed to predict the variable centroidal inertia over the MPC horizon, taking into account the swing foot trajectories -- an aspect often overlooked in ROM-based MPC frameworks. By integrating the MPC-based contact wrench planning with our low-level whole-body controller, we significantly improve the locomotion performance, achieving stable walking at higher velocities that are not attainable with the baseline method. The effectiveness of our proposed framework is validated through high-fidelity simulations using our full-body bipedal humanoid robot DRACO 3, demonstrating dynamic behaviors.

Navigating rugged landscapes poses significant challenges for legged locomotion. Multi-legged robots (those with 6 and greater) offer a promising solution for such terrains, largely due to their inherent high static stability, resulting from a low center of mass and wide base of support. Such systems require minimal effort to maintain balance. Recent studies have shown that a linear controller, which modulates the vertical body undulation of a multi-legged robot in response to shifts in terrain roughness, can ensure reliable mobility on challenging terrains. However, the potential of a learning-based control framework that adjusts multiple parameters to address terrain heterogeneity remains underexplored. We posit that the development of an experimentally validated physics-based simulator for this robot can rapidly advance capabilities by allowing wide parameter space exploration. Here we develop a MuJoCo-based simulator tailored to this robotic platform and use the simulation to develop a reinforcement learning-based control framework that dynamically adjusts horizontal and vertical body undulation, and limb stepping in real-time. Our approach improves robot performance in simulation, laboratory experiments, and outdoor tests. Notably, our real-world experiments reveal that the learning-based controller achieves a 30\% to 50\% increase in speed compared to a linear controller, which only modulates vertical body waves. We hypothesize that the superior performance of the learning-based controller arises from its ability to adjust multiple parameters simultaneously, including limb stepping, horizontal body wave, and vertical body wave.

To deploy safe and agile robots in cluttered environments, there is a need to develop fully decentralized controllers that guarantee safety, respect actuation limits, prevent deadlocks, and scale to thousands of agents. Current approaches fall short of meeting all these goals: optimization-based methods ensure safety but lack scalability, while learning-based methods scale but do not guarantee safety. We propose a novel algorithm to achieve safe and scalable control for multiple agents under limited actuation. Specifically, our approach includes: $(i)$ learning a decentralized neural Integral Control Barrier function (neural ICBF) for scalable, input-constrained control, $(ii)$ embedding a lightweight decentralized Model Predictive Control-based Integral Control Barrier Function (MPC-ICBF) into the neural network policy to ensure safety while maintaining scalability, and $(iii)$ introducing a novel method to minimize deadlocks based on gradient-based optimization techniques from machine learning to address local minima in deadlocks. Our numerical simulations show that this approach outperforms state-of-the-art multi-agent control algorithms in terms of safety, input constraint satisfaction, and minimizing deadlocks. Additionally, we demonstrate strong generalization across scenarios with varying agent counts, scaling up to 1000 agents.

As global climate change intensifies, accurate weather forecasting is increasingly crucial for sectors such as agriculture, energy management, and environmental protection. Traditional methods, which rely on physical and statistical models, often struggle with complex, nonlinear, and time-varying data, underscoring the need for more advanced techniques. This study explores a hybrid CNN-LSTM model to enhance temperature forecasting accuracy for the Delhi region, using historical meteorological data from 1996 to 2017. We employed both direct and indirect methods, including comprehensive data preprocessing and exploratory analysis, to construct and train our model. The CNN component effectively extracts spatial features, while the LSTM captures temporal dependencies, leading to improved prediction accuracy. Experimental results indicate that the CNN-LSTM model significantly outperforms traditional forecasting methods in terms of both accuracy and stability, with a mean square error (MSE) of 3.26217 and a root mean square error (RMSE) of 1.80615. The hybrid model demonstrates its potential as a robust tool for temperature prediction, offering valuable insights for meteorological forecasting and related fields. Future research should focus on optimizing model architecture, exploring additional feature extraction techniques, and addressing challenges such as overfitting and computational complexity. This approach not only advances temperature forecasting but also provides a foundation for applying deep learning to other time series forecasting tasks.

In recent years, the development of robots capable of operating in both aerial and aquatic environments has gained significant attention. This study presents the design and fabrication of a novel aerial-aquatic locomotion robot (AALR). Inspired by the diving beetle, the AALR incorporates a biomimetic propulsion mechanism with power and recovery strokes. The variable stiffness propulsion module (VSPM) uses low melting point alloy (LMPA) and variable stiffness joints (VSJ) to achieve efficient aquatic locomotion while reduce harm to marine life. The AALR's innovative design integrates the VSPM into the arms of a traditional quadrotor, allowing for effective aerial-aquatic locomotion. The VSPM adjusts joint stiffness through temperature control, meeting locomotion requirements in both aerial and aquatic modes. A dynamic model for the VSPM was developed, with optimized dimensional parameters to increase propulsion force. Experiments focused on aquatic mode analysis and demonstrated the AALR's swimming capability, achieving a maximum swimming speed of 77 mm/s underwater. The results confirm the AALR's effective performance in water environment, highlighting its potential for versatile, eco-friendly operations.

Deep learning has revolutionized the field of hyperspectral image (HSI) analysis, enabling the extraction of complex and hierarchical features. While convolutional neural networks (CNNs) have been the backbone of HSI classification, their limitations in capturing global contextual features have led to the exploration of Vision Transformers (ViTs). This paper introduces AMBER, an advanced SegFormer specifically designed for multi-band image segmentation. AMBER enhances the original SegFormer by incorporating three-dimensional convolutions to handle hyperspectral data. Our experiments, conducted on the Indian Pines, Pavia University, and PRISMA datasets, show that AMBER outperforms traditional CNN-based methods in terms of Overall Accuracy, Kappa coefficient, and Average Accuracy on the first two datasets, and achieves state-of-the-art performance on the PRISMA dataset.

Data augmentation has seen significant advancements in computer vision to improve model performance over the years, particularly in scenarios with limited and insufficient data. Currently, most studies focus on adjusting the image or its features to expand the size, quality, and variety of samples during training in various tasks including object detection. However, we argue that it is necessary to investigate bounding box transformations as a model regularization technique rather than image-level transformations, especially in aerial imagery due to potentially inconsistent bounding box annotations. Hence, this letter presents a thorough investigation of bounding box transformation in terms of scaling, rotation, and translation for remote sensing object detection. We call this augmentation strategy NBBOX (Noise Injection into Bounding Box). We conduct extensive experiments on DOTA and DIOR-R, both well-known datasets that include a variety of rotated generic objects in aerial images. Experimental results show that our approach significantly improves remote sensing object detection without whistles and bells and it is more time-efficient than other state-of-the-art augmentation strategies.

Foundation models pre-trained using self-supervised and weakly-supervised learning have shown powerful transfer learning capabilities on various downstream tasks, including language understanding, text generation, and image recognition. Recently, the Earth observation (EO) field has produced several foundation models pre-trained directly on multispectral satellite imagery (e.g., Sentinel-2) for applications like precision agriculture, wildfire and drought monitoring, and natural disaster response. However, few studies have investigated the ability of these models to generalize to new geographic locations, and potential concerns of geospatial bias -- models trained on data-rich developed countries not transferring well to data-scarce developing countries -- remain. We investigate the ability of popular EO foundation models to transfer to new geographic regions in the agricultural domain, where differences in farming practices and class imbalance make transfer learning particularly challenging. We first select six crop classification datasets across five continents, normalizing for dataset size and harmonizing classes to focus on four major cereal grains: maize, soybean, rice, and wheat. We then compare three popular foundation models, pre-trained on SSL4EO-S12, SatlasPretrain, and ImageNet, using in-distribution (ID) and out-of-distribution (OOD) evaluation. Experiments show that pre-trained weights designed explicitly for Sentinel-2, such as SSL4EO-S12, outperform general pre-trained weights like ImageNet. Furthermore, the benefits of pre-training on OOD data are the most significant when only 10--100 ID training samples are used. Transfer learning and pre-training with OOD and limited ID data show promising applications, as many developing regions have scarce crop type labels. All harmonized datasets and experimental code are open-source and available for download.

In the dynamic and rapidly advancing battery field, alloy anode materials are a focal point due to their superior electrochemical performance. Traditional screening methods are inefficient and time-consuming. Our research introduces a machine learning-assisted strategy to expedite the discovery and optimization of these materials. We compiled a vast dataset from the MP and AFLOW databases, encompassing tens of thousands of alloy compositions and properties. Utilizing a CGCNN, we accurately predicted the potential and specific capacity of alloy anodes, validated against experimental data. This approach identified approximately 120 low potential and high specific capacity alloy anodes suitable for various battery systems including Li, Na, K, Zn, Mg, Ca, and Al-based.

Seismic geobody interpretation is crucial for structural geology studies and various engineering applications. Existing deep learning methods show promise but lack support for multi-modal inputs and struggle to generalize to different geobody types or surveys. We introduce a promptable foundation model for interpreting any geobodies across seismic surveys. This model integrates a pre-trained vision foundation model (VFM) with a sophisticated multi-modal prompt engine. The VFM, pre-trained on massive natural images and fine-tuned on seismic data, provides robust feature extraction for cross-survey generalization. The prompt engine incorporates multi-modal prior information to iteratively refine geobody delineation. Extensive experiments demonstrate the model's superior accuracy, scalability from 2D to 3D, and generalizability to various geobody types, including those unseen during training. To our knowledge, this is the first highly scalable and versatile multi-modal foundation model capable of interpreting any geobodies across surveys while supporting real-time interactions. Our approach establishes a new paradigm for geoscientific data interpretation, with broad potential for transfer to other tasks.