Earth Observation imagery can capture rare and unusual events, such as disasters and major landscape changes, whose visual appearance contrasts with the usual observations. Deep models trained on common remote sensing data will output drastically different features for these out-of-distribution samples, compared to those closer to their training dataset. Detecting them could therefore help anticipate changes in the observations, either geographical or environmental. In this work, we show that the reconstruction error of diffusion models can effectively serve as unsupervised out-of-distribution detectors for remote sensing images, using them as a plausibility score. Moreover, we introduce ODEED, a novel reconstruction-based scorer using the probability-flow ODE of diffusion models. We validate it experimentally on SpaceNet 8 with various scenarios, such as classical OOD detection with geographical shift and near-OOD setups: pre/post-flood and non-flooded/flooded image recognition. We show that our ODEED scorer significantly outperforms other diffusion-based and discriminative baselines on the more challenging near-OOD scenarios of flood image detection, where OOD images are close to the distribution tail. We aim to pave the way towards better use of generative models for anomaly detection in remote sensing.

Like a mirage speeding across the dusty desert outside Pueblo, Colorado, the first hydrogen-fuel-cell passenger train in the United States is getting warmed up on its test track. It will soon be shipped to Southern California, where it is slated to carry riders on San Bernardino County's Arrow commuter rail service before the end of the year. The best way to decarbonize railroads is the subject of growing debate among regulators, industry, and activists. The debate is partly technological, revolving around whether hydrogen fuel cells, batteries, or overhead electric wires offer the best performance for different railroad situations. In the insular world of railroading, this hydrogen-powered train is a Rorschach test.

Recently, the increasing use of deep reinforcement learning for flow control problems has led to a new area of research, focused on the coupling and the adaptation of the existing algorithms to the control of numerical fluid dynamics environments. Although still in its infancy, the field has seen multiple successes in a short time span, and its fast development pace can certainly be partly imparted to the open-source effort that drives the expansion of the community. Yet, this emerging domain still misses a common ground to (i) ensure the reproducibility of the results, and (ii) offer a proper ad-hoc benchmarking basis. To this end, we propose beacon, an open-source benchmark library composed of seven lightweight one-dimensional and two-dimensional flow control problems with various characteristics, action and observation space characteristics, and CPU requirements. In this contribution, the seven consideblack problems are described, and reference control solutions are provided.

Model predictive control (MPC) for linear systems with quadratic costs and linear constraints is shown to admit an exact representation as an implicit neural network. A method to "unravel" the implicit neural network of MPC into an explicit one is also introduced. As well as building links between model-based and data-driven control, these results emphasize the capability of implicit neural networks for representing solutions of optimisation problems, as such problems are themselves implicitly defined functions.

Designing predictive controllers towards optimal closed-loop performance while maintaining safety and stability is challenging. This work explores closed-loop learning for predictive control parameters under imperfect information while considering closed-loop stability. We employ constrained Bayesian optimization to learn a model predictive controller's (MPC) cost function parametrized as a feedforward neural network, optimizing closed-loop behavior as well as minimizing model-plant mismatch. Doing so offers a high degree of freedom and, thus, the opportunity for efficient and global optimization towards the desired and optimal closed-loop behavior. We extend this framework by stability constraints on the learned controller parameters, exploiting the optimal value function of the underlying MPC as a Lyapunov candidate. The effectiveness of the proposed approach is underlined in simulations, highlighting its performance and safety capabilities.

An accurate description of information is relevant for a range of problems in atomistic modeling, such as sampling methods, detecting rare events, analyzing datasets, or performing uncertainty quantification (UQ) in machine learning (ML)-driven simulations. Although individual methods have been proposed for each of these tasks, they lack a common theoretical background integrating their solutions. Here, we introduce an information theoretical framework that unifies predictions of phase transformations, kinetic events, dataset optimality, and model-free UQ from atomistic simulations, thus bridging materials modeling, ML, and statistical mechanics. We first demonstrate that, for a proposed representation, the information entropy of a distribution of atom-centered environments is a surrogate value for thermodynamic entropy. Using molecular dynamics (MD) simulations, we show that information entropy differences from trajectories can be used to build phase diagrams, identify rare events, and recover classical theories of nucleation. Building on these results, we use this general concept of entropy to quantify information in datasets for ML interatomic potentials (IPs), informing compression, explaining trends in testing errors, and evaluating the efficiency of active learning strategies. Finally, we propose a model-free UQ method for MLIPs using information entropy, showing it reliably detects extrapolation regimes, scales to millions of atoms, and goes beyond model errors. This method is made available as the package QUESTS: Quick Uncertainty and Entropy via STructural Similarity, providing a new unifying theory for data-driven atomistic modeling and combining efforts in ML, first-principles thermodynamics, and simulations.

This paper presents a distributed model predictive control (DMPC) algorithm for a heterogeneous platoon using arbitrary communication topologies, as long as each vehicle is able to communicate with a preceding vehicle in the platoon. The proposed DMPC algorithm is able to accommodate any spacing policy that is affine in a vehicle's velocity, which includes constant distance or constant time headway spacing policies. By analyzing the total cost for the entire platoon, a sufficient condition is derived to guarantee platoon asymptotic stability. Simulation experiments with a platoon of 50 vehicles and hardware experiments with a platoon of four 1/10th scale vehicles validate the algorithm and compare performance under different spacing policies and communication topologies.

Hallucination continues to be one of the most critical challenges in the institutional adoption journey of Large Language Models (LLMs). In this context, an overwhelming number of studies have focused on analyzing the post-generation phase - refining outputs via feedback, analyzing logit output values, or deriving clues via the outputs' artifacts. We propose HalluciBot, a model that predicts the probability of hallucination $\textbf{before generation}$, for any query imposed to an LLM. In essence, HalluciBot does not invoke any generation during inference. To derive empirical evidence for HalluciBot, we employ a Multi-Agent Monte Carlo Simulation using a Query Perturbator to craft $n$ variations per query at train time. The construction of our Query Perturbator is motivated by our introduction of a new definition of hallucination - $\textit{truthful hallucination}$. Our training methodology generated 2,219,022 estimates for a training corpus of 369,837 queries, spanning 13 diverse datasets and 3 question-answering scenarios. HalluciBot predicts both binary and multi-class probabilities of hallucination, enabling a means to judge the query's quality with regards to its propensity to hallucinate. Therefore, HalluciBot paves the way to revise or cancel a query before generation and the ensuing computational waste. Moreover, it provides a lucid means to measure user accountability for hallucinatory queries.

One of the main challenges in surrogate modeling is the limited availability of data due to resource constraints associated with computationally expensive simulations. Multi-fidelity methods provide a solution by chaining models in a hierarchy with increasing fidelity, associated with lower error, but increasing cost. In this paper, we compare different multi-fidelity methods employed in constructing Gaussian process surrogates for regression. Non-linear autoregressive methods in the existing literature are primarily confined to two-fidelity models, and we extend these methods to handle more than two levels of fidelity. Additionally, we propose enhancements for an existing method incorporating delay terms by introducing a structured kernel. We demonstrate the performance of these methods across various academic and real-world scenarios. Our findings reveal that multi-fidelity methods generally have a smaller prediction error for the same computational cost as compared to the single-fidelity method, although their effectiveness varies across different scenarios.

This work introduces a cooperative inspection system designed to efficiently control and coordinate a team of distributed heterogeneous UAV agents for the inspection of 3D structures in cluttered, unknown spaces. Our proposed approach employs a two-stage innovative methodology. Initially, it leverages the complementary sensing capabilities of the robots to cooperatively map the unknown environment. It then generates optimized, collision-free inspection paths, thereby ensuring comprehensive coverage of the structure's surface area. The effectiveness of our system is demonstrated through qualitative and quantitative results from extensive Gazebo-based simulations that closely replicate real-world inspection scenarios, highlighting its ability to thoroughly inspect real-world-like 3D structures.