Autonomy is a key challenge for future space exploration endeavours. Deep Reinforcement Learning holds the promises for developing agents able to learn complex behaviours simply by interacting with their environment. This paper investigates the use of Reinforcement Learning for the satellite attitude control problem, namely the angular reorientation of a spacecraft with respect to an in- ertial frame of reference. In the proposed approach, a set of control policies are implemented as neural networks trained with a custom version of the Proximal Policy Optimization algorithm to maneuver a small satellite from a random starting angle to a given pointing target. In particular, we address the problem for two working conditions: the nominal case, in which all the actuators (a set of 3 reac- tion wheels) are working properly, and the underactuated case, where an actuator failure is simulated randomly along with one of the axes. We show that the agents learn to effectively perform large-angle slew maneuvers with fast convergence and industry-standard pointing accuracy. Furthermore, we test the proposed method on representative hardware, showing that by taking adequate measures controllers trained in simulation can perform well in real systems.

Our contributions are motivated by fusion reactors that rely on maintaining magnetohydrody-namic (MHD) equilibrium, where the balance between plasma pressure and confining magnetic fields is required for stable operation. In axisym-metric tokamak reactors in particular, and under the assumption of toroidal symmetry, this equilibrium can be mathematically modelled using the Grad-Shafranov Equation (GSE). Recent works have demonstrated the potential of using Physics-Informed Neural Networks (PINNs) to model the GSE. Existing studies did not examine realistic scenarios in which a single network generalizes to a variety of boundary conditions. Addressing that limitation, we evaluate a PINN architecture that incorporates boundary points as network inputs. Additionally, we compare PINN model accuracy and inference speeds with a Fourier Neural Operator (FNO) model. Finding the PINN model to be the most performant, and accurate in our setting, we use the network verification tool Marabou to perform a range of verification tasks. Although we find some discrepancies between evaluations of the networks natively in PyTorch, compared to via Marabou, we are able to demonstrate useful and practical verification workflows. Our study is the first investigation of verification of such networks.

Satellite-based estimates of greenhouse gas (GHG) properties from observations of reflected solar spectra are integral for understanding and monitoring complex terrestrial systems and their impact on the carbon cycle due to their near global coverage. Known as retrieval, making GHG concentration estimations from these observations is a non-linear Bayesian inverse problem, which is operationally solved using a computationally expensive algorithm called Optimal Estimation (OE), providing a Gaussian approximation to a non-Gaussian posterior. This leads to issues in solver algorithm convergence, and to unrealistically confident uncertainty estimates for the retrieved quantities. Upcoming satellite missions will provide orders of magnitude more data than the current constellation of GHG observers. Development of fast and accurate retrieval algorithms with robust uncertainty quantification is critical. Doing so stands to provide substantial climate impact of moving towards the goal of near continuous real-time global monitoring of carbon sources and sinks which is essential for policy making. To achieve this goal, we propose a diffusion-based approach to flexibly retrieve a Gaussian or non-Gaussian posterior, for NASA's Orbiting Carbon Observatory-2 spectrometer, while providing a substantial computational speed-up over the current operational state-of-the-art.

With the recent development of new geometric and angular-radial frameworks for multivariate extremes, reliably simulating from angular variables in moderate-to-high dimensions is of increasing importance. Empirical approaches have the benefit of simplicity, and work reasonably well in low dimensions, but as the number of variables increases, they can lack the required flexibility and scalability. Classical parametric models for angular variables, such as the von Mises-Fisher (vMF) distribution, provide an alternative. Exploiting mixtures of vMF distributions increases their flexibility, but there are cases where even this is not sufficient to capture the intricate features that can arise in data. Owing to their flexibility, generative deep learning methods are able to capture complex data structures; they therefore have the potential to be useful in the simulation of angular variables. In this paper, we explore a range of deep learning approaches for this task, including generative adversarial networks, normalizing flows and flow matching. We assess their performance via a range of metrics and make comparisons to the more classical approach of using a mixture of vMF distributions. The methods are also applied to a metocean data set, demonstrating their applicability to real-world, complex data structures.

Governance institutions must respond to societal risks, including those posed by generative AI. This study empirically examines how public trust in institutions and AI technologies, along with perceived risks, shape preferences for AI regulation. Using the nationally representative 2023 Artificial Intelligence, Morality, and Sentience (AIMS) survey, we assess trust in government, AI companies, and AI technologies, as well as public support for regulatory measures such as slowing AI development or outright bans on advanced AI. Our findings reveal broad public support for AI regulation, with risk perception playing a significant role in shaping policy preferences. Individuals with higher trust in government favor regulation, while those with greater trust in AI companies and AI technologies are less inclined to support restrictions. Trust in government and perceived risks significantly predict preferences for both soft (e.g., slowing development) and strong (e.g., banning AI systems) regulatory interventions. These results highlight the importance of public opinion in AI governance. As AI capabilities advance, effective regulation will require balancing public concerns about risks with trust in institutions. This study provides a foundational empirical baseline for policymakers navigating AI governance and underscores the need for further research into public trust, risk perception, and regulatory strategies in the evolving AI landscape.

Wheel-legged robots combine the advantages of both wheeled robots and legged robots, offering versatile locomotion capabilities with excellent stability on challenging terrains and high efficiency on flat surfaces. However, existing wheel-legged robots typically have limited hip joint mobility compared to humans, while hip joint plays a crucial role in locomotion. In this paper, we introduce Whleaper, a novel 10-degree-of-freedom (DOF) bipedal wheeled robot, with 3 DOFs at the hip of each leg. Its humanoid joint design enables adaptable motion in complex scenarios, ensuring stability and flexibility. This paper introduces the details of Whleaper, with a focus on innovative mechanical design, control algorithms and system implementation. Firstly, stability stems from the increased DOFs at the hip, which expand the range of possible postures and improve the robot's foot-ground contact. Secondly, the extra DOFs also augment its mobility. During walking or sliding, more complex movements can be adopted to execute obstacle avoidance tasks. Thirdly, we utilize two control algorithms to implement multimodal motion for walking and sliding. By controlling specific DOFs of the robot, we conducted a series of simulations and practical experiments, demonstrating that a high-DOF hip joint design can effectively enhance the stability and flexibility of wheel-legged robots. Whleaper shows its capability to perform actions such as squatting, obstacle avoidance sliding, and rapid turning in real-world scenarios.

Diffusion autoencoders (DAEs) are typically formulated as a noise prediction model and trained with a linear-$β$ noise schedule that spends much of its sampling steps at high noise levels. Because high noise levels are associated with recovering large-scale image structures and low noise levels with recovering details, this configuration can result in low-quality and blurry images. However, it should be possible to improve details while spending fewer steps recovering structures because the latent code should already contain structural information. Based on this insight, we propose a new DAE training method that improves the quality of reconstructed images. We divide training into two phases. In the first phase, the DAE is trained as a vanilla autoencoder by always setting the noise level to the highest, forcing the encoder and decoder to populate the latent code with structural information. In the second phase, we incorporate a noise schedule that spends more time in the low-noise region, allowing the DAE to learn how to perfect the details. Our method results in images that have accurate high-level structures and low-level details while still preserving useful properties of the latent codes.

The deployment of machine learning (ML)-based process monitoring systems has significantly advanced additive manufacturing (AM) by enabling real-time defect detection, quality assessment, and process optimization. However, redundancy is a critical yet often overlooked challenge in the deployment and operation of ML-based AM process monitoring systems. Excessive redundancy leads to increased equipment costs, compromised model performance, and high computational requirements, posing barriers to industrial adoption. However, existing research lacks a unified definition of redundancy and a systematic framework for its evaluation and mitigation. This paper defines redundancy in ML-based AM process monitoring and categorizes it into sample-level, feature-level, and model-level redundancy. A comprehensive multi-level redundancy mitigation (MLRM) framework is proposed, incorporating advanced methods such as data registration, downscaling, cross-modality knowledge transfer, and model pruning to systematically reduce redundancy while improving model performance. The framework is validated through an ML-based in-situ defect detection case study for directed energy deposition (DED), demonstrating a 91% reduction in latency, a 47% decrease in error rate, and a 99.4% reduction in storage requirements. Additionally, the proposed approach lowers sensor costs and energy consumption, enabling a lightweight, cost-effective, and scalable monitoring system. By defining redundancy and introducing a structured mitigation framework, this study establishes redundancy analysis and mitigation as a key enabler of efficient ML-based process monitoring in production environments.

Learning-based approaches are increasingly leveraged to manage and coordinate the operation of grid-edge resources in active power distribution networks. Among these, model-based techniques stand out for their superior data efficiency and robustness compared to model-free methods. However, effective model learning requires a learning-based approximator for the underlying power flow model. This study extends existing work by introducing a data-driven power flow method based on Gaussian Processes (GPs) to approximate the multiphase power flow model, by mapping net load injections to nodal voltages. Simulation results using the IEEE 123-bus and 8500-node distribution test feeders demonstrate that the trained GP model can reliably predict the nonlinear power flow solutions with minimal training data. We also conduct a comparative analysis of the training efficiency and testing performance of the proposed GP-based power flow approximator against a deep neural network-based approximator, highlighting the advantages of our data-efficient approach. Results over realistic operating conditions show that despite an 85% reduction in the training sample size (corresponding to a 92.8% improvement in training time), GP models produce a 99.9% relative reduction in mean absolute error compared to the baselines of deep neural networks.

Extreme heat is the deadliest weather-related hazard in the United States. Furthermore, it is increasing in intensity, frequency, and duration, making skillful forecasts vital to protecting life and property. Traditional numerical weather prediction (NWP) models struggle with extreme heat for medium-range and subseasonal-to-seasonal (S2S) timescales. Meanwhile, artificial intelligence-based weather prediction (AIWP) models are progressing rapidly. However, it is largely unknown how well AIWP models forecast extremes, especially for medium-range and S2S timescales. This study investigates 2-m temperature forecasts for 60 heat waves across the four boreal seasons and over four CONUS regions at lead times up to 20 days, using two AIWP models (Google GraphCast and Pangu-Weather) and one traditional NWP model (NOAA United Forecast System Global Ensemble Forecast System (UFS GEFS)). First, case study analyses show that both AIWP models and the UFS GEFS exhibit consistent cold biases on regional scales in the 5-10 days of lead time before heat wave onset. GraphCast is the more skillful AIWP model, outperforming UFS GEFS and Pangu-Weather in most locations. Next, the two AIWP models are isolated and analyzed across all heat waves and seasons, with events split among the model's testing (2018-2023) and training (1979-2017) periods. There are cold biases before and during the heat waves in both models and all seasons, except Pangu-Weather in winter, which exhibits a mean warm bias before heat wave onset. Overall, results offer encouragement that AIWP models may be useful for medium-range and S2S predictability of extreme heat.