To make sense of massive data, we often first fit simplified models and then interpret the parameters; for example, we cluster the text embeddings and then interpret the mean parameters of each cluster.However, these parameters are often high-dimensional and hard to interpret.To make model parameters directly interpretable, we introduce a family of statistical models---including clustering, time series, and classification models---parameterized by . For example, a cluster of text about COVID could be parameterized by the predicate `` ''.To learn these statistical models effectively, we develop a model-agnostic algorithm that optimizes continuous relaxations of predicate parameters with gradient descent and discretizes them by prompting language models (LMs).Finally, we apply our framework to a wide range of problems: taxonomizing user chat dialogues, characterizing how they evolve across time, finding categories where one language model is better than the other, clustering math problems based on subareas, and explaining visual features in memorable images.Our framework is highly versatile, applicable to both textual and visual domains, can be easily steered to focus on specific properties (e.g.

Efficient coordination of multiple robots for coverage of large, unknown environments is a significant challenge that involves minimizing the total coverage path length while reducing inter-robot conflicts. In this paper, we introduce a Multi-robot Connectivity-Aware Planner (Multi-CAP), a hierarchical coverage path planning algorithm that facilitates multi-robot coordination through a novel connectivity-aware approach. The algorithm constructs and dynamically maintains an adjacency graph that represents the environment as a set of connected subareas. Critically, we make the assumption that the environment, while unknown, is bounded. This allows for incremental refinement of the adjacency graph online to ensure its structure represents the physical layout of the space, both in observed and unobserved areas of the map as robots explore the environment. We frame the task of assigning subareas to robots as a Vehicle Routing Problem (VRP), a well-studied problem for finding optimal routes for a fleet of vehicles. This is used to compute disjoint tours that minimize redundant travel, assigning each robot a unique, non-conflicting set of subareas. Each robot then executes its assigned tour, independently adapting its coverage strategy within each subarea to minimize path length based on real-time sensor observations of the subarea. We demonstrate through simulations and multi-robot hardware experiments that Multi-CAP significantly outperforms state-of-the-art methods in key metrics, including coverage time, total path length, and path overlap ratio. Ablation studies further validate the critical role of our connectivity-aware graph and the global tour planner in achieving these performance gains.

To make sense of massive data, we often first fit simplified models and then interpret the parameters; for example, we cluster the text embeddings and then interpret the mean parameters of each cluster.However, these parameters are often high-dimensional and hard to interpret.To make model parameters directly interpretable, we introduce a family of statistical models---including clustering, time series, and classification models---parameterized by natural language predicates. For example, a cluster of text about COVID could be parameterized by the predicate discusses COVID''.To learn these statistical models effectively, we develop a model-agnostic algorithm that optimizes continuous relaxations of predicate parameters with gradient descent and discretizes them by prompting language models (LMs).Finally, we apply our framework to a wide range of problems: taxonomizing user chat dialogues, characterizing how they evolve across time, finding categories where one language model is better than the other, clustering math problems based on subareas, and explaining visual features in memorable images.Our framework is highly versatile, applicable to both textual and visual domains, can be easily steered to focus on specific properties (e.g.

-- Efficient coverage of unknown environments requires robots to adapt their paths in real time based on on-board sensor data. In this paper, we introduce CAP, a connectivity-aware hierarchical coverage path planning algorithm for efficient coverage of unknown environments. During online operation, CAP incrementally constructs a coverage guidance graph to capture essential information about the environment. Based on the updated graph, the hierarchical planner determines an efficient path to maximize global coverage efficiency and minimize local coverage time. The performance of CAP is evaluated and compared with five baseline algorithms through high-fidelity simulations as well as robot experiments. Our results show that CAP yields significant improvements in coverage time, path length, and path overlap ratio. Optimized coverage path planning (CPP) enables robots to achieve complete coverage of all points in a search area efficiently.

Data-driven approaches to philosophy have emerged as a valuable tool for studying the history of the discipline. However, most studies in this area have focused on a limited number of journals from specific regions and subfields. We expand the scope of this research by applying dynamic topic modelling techniques to explore the history of philosophy in Colombia and Latin America. Our study examines the Colombian philosophy journal Ideas y Valores, founded in 1951 and currently one of the most influential academic philosophy journals in the region. By analyzing the evolution of topics across the journal's history, we identify various trends and specific dynamics in philosophical discourse within the Colombian and Latin American context. Our findings reveal that the most prominent topics are value theory (including ethics, political philosophy, and aesthetics), epistemology, and the philosophy of science. We also trace the evolution of articles focusing on the historical and interpretive aspects of philosophical texts, and we note a notable emphasis on German philosophers such as Kant, Husserl, and Hegel on various topics throughout the journal's lifetime. Additionally, we investigate whether articles with a historical focus have decreased over time due to editorial pressures. Our analysis suggests no significant decline in such articles. Finally, we propose ideas for extending this research to other Latin American journals and suggest improvements for natural language processing workflows in non-English languages.

This study investigates lightning at tall objects and evaluates the risk of upward lightning (UL) over the eastern Alps and its surrounding areas. While uncommon, UL poses a threat, especially to wind turbines, as the long-duration current of UL can cause significant damage. Current risk assessment methods overlook the impact of meteorological conditions, potentially underestimating UL risks. Therefore, this study employs random forests, a machine learning technique, to analyze the relationship between UL measured at Gaisberg Tower (Austria) and $35$ larger-scale meteorological variables. Of these, the larger-scale upward velocity, wind speed and direction at 10 meters and cloud physics variables contribute most information. The random forests predict the risk of UL across the study area at a 1 km$^2$ resolution. Strong near-surface winds combined with upward deflection by elevated terrain increase UL risk. The diurnal cycle of the UL risk as well as high-risk areas shift seasonally. They are concentrated north/northeast of the Alps in winter due to prevailing northerly winds, and expanding southward, impacting northern Italy in the transitional and summer months. The model performs best in winter, with the highest predicted UL risk coinciding with observed peaks in measured lightning at tall objects. The highest concentration is north of the Alps, where most wind turbines are located, leading to an increase in overall lightning activity. Comprehensive meteorological information is essential for UL risk assessment, as lightning densities are a poor indicator of lightning at tall objects.

Hyperspectral imaging acquires data in both the spatial and frequency domains to offer abundant physical or biological information. However, conventional hyperspectral imaging has intrinsic limitations of bulky instruments, slow data acquisition rate, and spatiospectral tradeoff. Here we introduce hyperspectral learning for snapshot hyperspectral imaging in which sampled hyperspectral data in a small subarea are incorporated into a learning algorithm to recover the hypercube. Hyperspectral learning exploits the idea that a photograph is more than merely a picture and contains detailed spectral information. A small sampling of hyperspectral data enables spectrally informed learning to recover a hypercube from an RGB image. Hyperspectral learning is capable of recovering full spectroscopic resolution in the hypercube, comparable to high spectral resolutions of scientific spectrometers. Hyperspectral learning also enables ultrafast dynamic imaging, leveraging ultraslow video recording in an off-the-shelf smartphone, given that a video comprises a time series of multiple RGB images. To demonstrate its versatility, an experimental model of vascular development is used to extract hemodynamic parameters via statistical and deep-learning approaches. Subsequently, the hemodynamics of peripheral microcirculation is assessed at an ultrafast temporal resolution up to a millisecond, using a conventional smartphone camera. This spectrally informed learning method is analogous to compressed sensing; however, it further allows for reliable hypercube recovery and key feature extractions with a transparent learning algorithm. This learning-powered snapshot hyperspectral imaging method yields high spectral and temporal resolutions and eliminates the spatiospectral tradeoff, offering simple hardware requirements and potential applications of various machine-learning techniques.

Planning coverage path for multiple robots in a decentralized way enhances robustness to coverage tasks handling uncertain malfunctions. To achieve high efficiency in a distributed manner for each single robot, a comprehensive understanding of both the complicated environments and cooperative agents intent is crucial. Unfortunately, existing works commonly consider only part of these factors, resulting in imbalanced subareas or unnecessary overlaps. To tackle this issue, we introduce a Decentralized reinforcement learning framework with dual guidance to train each agent to solve the decentralized multiple coverage path planning problem straightly through the environment states. As distributed robots require others intentions to perform better coverage efficiency, we utilize two guidance methods, artificial potential fields and heuristic guidance, to include and integrate others intentions into observations for each robot. With our constructed framework, results have shown our agents successfully learn to determine their own subareas while achieving full coverage, balanced subareas and low overlap rates. We then implement spanning tree cover within those subareas to construct actual routes for each robot and complete given coverage tasks. Our performance is also compared with the state of the art decentralized method showing at most 10 percent lower overlap rates while performing high efficiency in similar environments.

Satellite imagery is now widely used in the defense sector for monitoring locations of interest. Although the increasing amount of data enables pattern identification and therefore prediction, carrying this task manually is hardly feasible. We hereby propose a cased-based reasoning approach for automatic prediction of rare events on strategic sites. This method allows direct incorporation of expert knowledge, and is adapted to irregular time series and small-size datasets. Experiments are carried out on two use-cases using real satellite images: the prediction of submarines arrivals and departures from a naval base, and the forecasting of imminent rocket launches on two space bases. The proposed method significantly outperforms a random selection of reference cases on these challenging applications, showing its strong potential. Keywords: Predictive analysis · Case-based reasoning · Earth observation · Submarine activity · Space launch.

Many problems in RL, such as meta RL, robust RL, and generalization in RL, can be cast as POMDPs. In theory, simply augmenting model-free RL with memory, such as recurrent neural networks, provides a general approach to solving all types of POMDPs. However, prior work has found that such recurrent model-free RL methods tend to perform worse than more specialized algorithms that are designed for specific types of POMDPs. This paper revisits this claim. We find that careful architecture and hyperparameter decisions yield a recurrent model-free implementation that performs on par with (and occasionally substantially better than) more sophisticated recent techniques in their respective domains. We also release a simple and efficient implementation of recurrent model-free RL for future work to use as a baseline for POMDPs. Code is available at https://github.com/twni2016/pomdp-baselines