In accordance with the urban reconstruction problem proposed by the DFC23 Track 2 Contest, this paper attempts a multitask-learning method of building extraction and height estimation using both optical and radar satellite imagery. Contrary to the initial goal of multitask learning which could potentially give a superior solution by reusing features and forming implicit constraints between multiple tasks, this paper reports the individual implementation of the building extraction and height estimation under constraints. The baseline results for the building extraction and the height estimation significantly increased after designed experiments.

In recent years, ubiquitous semantic Metaverse has been studied to revolutionize immersive cyber-virtual experiences for augmented reality (AR) and virtual reality (VR) users, which leverages advanced semantic understanding and representation to enable seamless, context-aware interactions within mixed-reality environments. This survey focuses on the intelligence and spatio-temporal characteristics of four fundamental system components in ubiquitous semantic Metaverse, i.e., artificial intelligence (AI), spatio-temporal data representation (STDR), semantic Internet of Things (SIoT), and semantic-enhanced digital twin (SDT). We thoroughly survey the representative techniques of the four fundamental system components that enable intelligent, personalized, and context-aware interactions with typical use cases of the ubiquitous semantic Metaverse, such as remote education, work and collaboration, entertainment and socialization, healthcare, and e-commerce marketing. Furthermore, we outline the opportunities for constructing the future ubiquitous semantic Metaverse, including scalability and interoperability, privacy and security, performance measurement and standardization, as well as ethical considerations and responsible AI. Addressing those challenges is important for creating a robust, secure, and ethically sound system environment that offers engaging immersive experiences for the users and AR/VR applications.

This work is concerned with solving neural network-based feedback controllers efficiently for optimal control problems. We first conduct a comparative study of two mainstream approaches: offline supervised learning and online direct policy optimization. Albeit the training part of the supervised learning approach is relatively easy, the success of the method heavily depends on the optimal control dataset generated by open-loop optimal control solvers. In contrast, direct optimization turns the optimal control problem into an optimization problem directly without any requirement of pre-computing, but the dynamics-related objective can be hard to optimize when the problem is complicated. Our results highlight the priority of offline supervised learning in terms of both optimality and training time. To overcome the main challenges, dataset, and optimization, in the two approaches respectively, we complement them and propose the Pre-train and Fine-tune strategy as a unified training paradigm for optimal feedback control, which further improves the performance and robustness significantly. Our code is available at https://github.com/yzhao98/DeepOptimalControl.

Kinetic approaches are generally accurate in dealing with microscale plasma physics problems but are computationally expensive for large-scale or multiscale systems. One of the long-standing problems in plasma physics is the integration of kinetic physics into fluid models, which is often achieved through sophisticated analytical closure terms. In this paper, we successfully construct a multi-moment fluid model with an implicit fluid closure included in the neural network using machine learning. The multi-moment fluid model is trained with a small fraction of sparsely sampled data from kinetic simulations of Landau damping, using the physics-informed neural network (PINN) and the gradient-enhanced physics-informed neural network (gPINN). The multi-moment fluid model constructed using either PINN or gPINN reproduces the time evolution of the electric field energy, including its damping rate, and the plasma dynamics from the kinetic simulations. In addition, we introduce a variant of the gPINN architecture, namely, gPINN$p$ to capture the Landau damping process. Instead of including the gradients of all the equation residuals, gPINN$p$ only adds the gradient of the pressure equation residual as one additional constraint. Among the three approaches, the gPINN$p$-constructed multi-moment fluid model offers the most accurate results. This work sheds light on the accurate and efficient modeling of large-scale systems, which can be extended to complex multiscale laboratory, space, and astrophysical plasma physics problems.

Global medium-range weather forecasting is critical to decision-making across many social and economic domains. Traditional numerical weather prediction uses increased compute resources to improve forecast accuracy, but cannot directly use historical weather data to improve the underlying model. We introduce a machine learning-based method called "GraphCast", which can be trained directly from reanalysis data. It predicts hundreds of weather variables, over 10 days at 0.25 degree resolution globally, in under one minute. We show that GraphCast significantly outperforms the most accurate operational deterministic systems on 90% of 1380 verification targets, and its forecasts support better severe event prediction, including tropical cyclones, atmospheric rivers, and extreme temperatures. GraphCast is a key advance in accurate and efficient weather forecasting, and helps realize the promise of machine learning for modeling complex dynamical systems.

Point cloud based 3D deep model has wide applications in many applications such as autonomous driving, house robot, and so on. Inspired by the recent prompt learning in natural language processing, this work proposes a novel Multi-view Vision-Prompt Fusion Network (MvNet) for few-shot 3D point cloud classification. MvNet investigates the possibility of leveraging the off-the-shelf 2D pre-trained models to achieve the few-shot classification, which can alleviate the over-dependence issue of the existing baseline models towards the large-scale annotated 3D point cloud data. Specifically, MvNet first encodes a 3D point cloud into multi-view image features for a number of different views. Then, a novel multi-view prompt fusion module is developed to effectively fuse information from different views to bridge the gap between 3D point cloud data and 2D pre-trained models. A set of 2D image prompts can then be derived to better describe the suitable prior knowledge for a large-scale pre-trained image model for few-shot 3D point cloud classification. Extensive experiments on ModelNet, ScanObjectNN, and ShapeNet datasets demonstrate that MvNet achieves new state-of-the-art performance for 3D few-shot point cloud image classification. The source code of this work will be available soon.

The governing equations for fluid behavior are typically the Navier-Stokes equations, which are solved using discretization approaches like finite difference, finite volume, or finite element methods. However, such computational fluid dynamics (CFD) simulations can be computationally intensive, especially for turbulent flow and complex geometries, and changing the geometry requires recomputing the entire simulation. Hence, there is a need for a quick surrogate model for CFD simulations. Such surrogate models encompass a variety of approaches, including linear reduced order models [10, 26], such as reduced basis [39] and proper orthogonal decomposition [43] models, as well as neural network-based models [9], like convolutional neural networks (CNNs) [5, 8, 19, 28, 34] and neural operators [24, 33]. In present work, we focus on using neural networks as an approximation for CFD simulations. Instead of relying on a large dataset, we leverage the known governing equations of fluids to construct a physics-aware loss function and train our model to satisfy these equations discretely. This approach has recently become increasingly popular and was applied to dense neural networks (DNN) to solve partial differential equations (PDEs) with little training data [41] or without training data [52] as well as inverse problems with limited training data [18, 41]. More recently, this idea was also applied to convolutional neural networks (CNN) by using physics-aware loss functions to solve PDEs [2, 6, 11, 45, 49, 57], upscale and denoise solutions [12, 21], generally improve the predictive quality of a model [48, 56], or learn PDEs from data [31, 32]. For a comprehensive overview on scientific machine learning (SciML), we refer to [3, 55].

Developing robot controllers capable of achieving dexterous nonprehensile manipulation, such as pushing an object on a table, is challenging. The underactuated and hybrid-dynamics nature of the problem, further complicated by the uncertainty resulting from the frictional interactions, requires sophisticated control behaviors. Reinforcement Learning (RL) is a powerful framework for developing such robot controllers. However, previous RL literature addressing the nonprehensile pushing task achieves low accuracy, non-smooth trajectories, and only simple motions, i.e. without rotation of the manipulated object. We conjecture that previously used unimodal exploration strategies fail to capture the inherent hybrid-dynamics of the task, arising from the different possible contact interaction modes between the robot and the object, such as sticking, sliding, and separation. In this work, we propose a multimodal exploration approach through categorical distributions, which enables us to train planar pushing RL policies for arbitrary starting and target object poses, i.e. positions and orientations, and with improved accuracy. We show that the learned policies are robust to external disturbances and observation noise, and scale to tasks with multiple pushers. Furthermore, we validate the transferability of the learned policies, trained entirely in simulation, to a physical robot hardware using the KUKA iiwa robot arm. See our supplemental video: https://youtu.be/vTdva1mgrk4.

To model complex turbulent flow and heat transfer phenomena, this study aims to analyze and develop a reduced modeling approach based on artificial neural network (ANN) and wrapper methods. This approach has an advantage over other methods such as the correlation-based filter method in terms of removing redundant or irrelevant parameters even under non-linearity among them. As a downside, the overfitting and randomness of ANN training may produce inconsistent subsets over selection trials especially in a higher physical dimension. This study analyzes a few existing ANN-based wrapper methods and develops a revised one based on the gradient-based subset selection indices to minimize the loss in the total derivative or the directional consistency at each elimination step. To examine parameter reduction performance and consistency-over-trials, we apply these methods to a manufactured subset selection problem, modeling of the bubble size in a turbulent bubbly flow, and modeling of the spatially varying turbulent Prandtl number in a duct flow. It is found that the gradient-based subset selection to minimize the total derivative loss results in improved consistency-over-trials compared to the other ANN-based wrapper methods, while removing unnecessary parameters successfully. For the reduced turbulent Prandtl number model, the gradient-based subset selection improves the prediction in the validation case over the other methods. Also, the reduced parameter subsets show a slight increase in the training speed compared to the others.

The Sustainable Development Goals (SDGs) were introduced by the United Nations in order to encourage policies and activities that help guarantee human prosperity and sustainability. SDG frameworks produced in the finance industry are designed to provide scores that indicate how well a company aligns with each of the 17 SDGs. This scoring enables a consistent assessment of investments that have the potential of building an inclusive and sustainable economy. As a result of the high quality and reliability required by such frameworks, the process of creating and maintaining them is time-consuming and requires extensive domain expertise. In this work, we describe a data-driven system that seeks to automate the process of creating an SDG framework. First, we propose a novel method for collecting and filtering a dataset of texts from different web sources and a knowledge graph relevant to a set of companies. We then implement and deploy classifiers trained with this data for predicting scores of alignment with SDGs for a given company. Our results indicate that our best performing model can accurately predict SDG scores with a micro average F1 score of 0.89, demonstrating the effectiveness of the proposed solution. We further describe how the integration of the models for its use by humans can be facilitated by providing explanations in the form of data relevant to a predicted score. We find that our proposed solution enables access to a large amount of information that analysts would normally not be able to process, resulting in an accurate prediction of SDG scores at a fraction of the cost.