Self-supervised learning has become a central strategy for representation learning, but the majority of architectures used for encoding data have only been validated on regularly-sampled inputs such as images, audios. and videos. In many scientific domains, data instead arrive as long, irregular, and multimodal sequences. To extract semantic information from these data, we introduce the Diffusion Autoencoder with Perceivers (daep). daep tokenizes heterogeneous measurements, compresses them with a Perceiver encoder, and reconstructs them with a Perceiver-IO diffusion decoder, enabling scalable learning in diverse data settings. To benchmark the daep architecture, we adapt the masked autoencoder to a Perceiver encoder/decoder design, and establish a strong baseline (maep) in the same architectural family as daep. Across diverse spectroscopic and photometric astronomical datasets, daep achieves lower reconstruction errors, produces more discriminative latent spaces, and better preserves fine-scale structure than both VAE and maep baselines. These results establish daep as an effective framework for scientific domains where data arrives as irregular, heterogeneous sequences.

Exploration in dynamic and uncertain real-world environments is an open problem in robotics and constitutes a foundational capability of autonomous systems operating in most of the real world. While 3D exploration planning has been extensively studied, the environments are assumed static or only reactive collision avoidance is carried out. We propose a novel approach to not only avoid dynamic obstacles but also include them in the plan itself, to exploit the dynamic environment in the agent's favor. The proposed planner, Dynamic Autonomous Exploration Planner (DAEP), extends AEP to explicitly plan with respect to dynamic obstacles. To thoroughly evaluate exploration planners in such settings we propose a new enhanced benchmark suite with several dynamic environments, including large-scale outdoor environments. DAEP outperform state-of-the-art planners in dynamic and large-scale environments. DAEP is shown to be more effective at both exploration and collision avoidance.

Ill-posed inverse problems in imaging remain an active research topic in several decades, with new approaches constantly emerging. Recognizing that the popular dictionary learning and convolutional sparse coding are both essentially modeling the high-frequency component of an image, which convey most of the semantic information such as texture details, in this work we propose a novel multi-profile high-frequency transform-guided denoising autoencoder as prior (HF-DAEP). To achieve this goal, we first extract a set of multi-profile high-frequency components via a specific transformation and add the artificial Gaussian noise to these high-frequency components as training samples. Then, as the high-frequency prior information is learned, we incorporate it into classical iterative reconstruction process by proximal gradient descent technique. Preliminary results on highly under-sampled magnetic resonance imaging and sparse-view computed tomography reconstruction demonstrate that the proposed method can efficiently reconstruct feature details and present advantages over state-of-the-arts.