Collecting operationally realistic data to inform machine learning models can be costly. Before collecting new data, it is helpful to understand where a model is deficient. For example, object detectors trained on images of rare objects may not be good at identification in poorly represented conditions. We offer a way of informing subsequent data acquisition to maximize model performance by leveraging the toolkit of computer experiments and metadata describing the circumstances under which the training data was collected (e.g., season, time of day, location). We do this by evaluating the learner as the training data is varied according to its metadata. A Gaussian process (GP) surrogate fit to that response surface can inform new data acquisitions. This meta-learning approach offers improvements to learner performance as compared to data with randomly selected metadata, which we illustrate on both classic learning examples, and on a motivating application involving the collection of aerial images in search of airplanes.

Ecological monitoring is increasingly automated by vision models, yet opaque predictions limit trust and field adoption. We present an inpainting-guided, perturbation-based explanation technique that produces photorealistic, mask-localized edits that preserve scene context. Unlike masking or blurring, these edits stay in-distribution and reveal which fine-grained morphological cues drive predictions in tasks such as species recognition and trait attribution. We demonstrate the approach on a YOLOv9 detector fine-tuned for harbor seal detection in Glacier Bay drone imagery, using Segment-Anything-Model-refined masks to support two interventions: (i) object removal/replacement (e.g., replacing seals with plausible ice/water or boats) and (ii) background replacement with original animals composited onto new scenes. Explanations are assessed by re-scoring perturbed images (flip rate, confidence drop) and by expert review for ecological plausibility and interpretability. The resulting explanations localize diagnostic structures, avoid deletion artifacts common to traditional perturbations, and yield domain-relevant insights that support expert validation and more trustworthy deployment of AI in ecology.

Do fish respond to the presence of underwater vehicles, potentially biasing our estimates about them? If so, are there strategies to measure and mitigate this response? This work provides a theoretical and practical framework towards bias-free estimation of animal behavior from underwater vehicle observations. We also provide preliminary results from the field in coral reef environments to address these questions.

Personal use of this material is permitted. Abstract -- This study compares the performance of state-of-the-art neural networks including variants of the YOLOv11 and RT -DETR models for detecting marsh deer in UA V imagery, in scenarios where specimens occupy a very small portion of the image and are occluded by vegetation. We extend previous analysis adding precise segmentation masks for our datasets enabling a fine-grained training of a YOLO model with a segmentation head included. Experimental results show the effectiveness of incorporating the segmentation head achieving superior detection performance. This work contributes valuable insights for improving UA V-based wildlife monitoring and conservation strategies through scalable and accurate AI-driven detection systems. Monitoring wildlife is crucial for understanding and preserving ecosystems. Traditional observation methods, however, are often labor-intensive, costly, and constrained in coverage [1], [2].

Accurate representation of procedures in restricted scenarios, such as non-standardized scientific experiments, requires precise depiction of constraints. Unfortunately, Domain-specific Language (DSL), as an effective tool to express constraints structurally, often requires case-by-case hand-crafting, necessitating customized, labor-intensive efforts. To overcome this challenge, we introduce the AutoDSL framework to automate DSL-based constraint design across various domains. Utilizing domain specified experimental protocol corpora, AutoDSL optimizes syntactic constraints and abstracts semantic constraints. Quantitative and qualitative analyses of the DSLs designed by AutoDSL across five distinct domains highlight its potential as an auxiliary module for language models, aiming to improve procedural planning and execution.

Special-purpose Autonomous Underwater Vehicles (AUVs) are utilised for benthic (seafloor) surveys, where the vehicle collects optical imagery of the seafloor. Due to the small-sensor footprint of the cameras and the vast areas to be surveyed, these AUVs can not feasibly collect full coverage imagery of areas larger than a few tens of thousands of square meters. Therefore it is necessary for AUV paths to sample the surveys areas sparsely, yet effectively. Broad-scale acoustic bathymetric data is readily available over large areas, and is often a useful prior of seafloor cover. As such, prior bathymetry can be used to guide AUV data collection. This research proposes methods for planning initial AUV surveys that efficiently explore a feature space representation of the bathymetry, in order to sample from a diverse set of bathymetric terrain. This will enable the AUV to visit areas that likely contain unique habitats and are representative of the entire survey site. We propose several information gathering planners that utilise a feature space exploration reward, to plan freeform paths or to optimise the placement of a survey template. The suitability of these methods to plan AUV surveys is evaluated based on the coverage of the feature space and also the ability to visit all classes of benthic habitat on the initial dive. Informative planners based on Rapidly-expanding Random Trees (RRT) and Monte-Carlo Tree Search (MCTS) were found to be the most effective. This is a valuable tool for AUV surveys as it increases the utility of initial dives. It also delivers a comprehensive training set to learn a relationship between acoustic bathymetry and visually-derived seafloor classifications.

We consider the problem of active learning in the context of spatial sampling for level set estimation (LSE), where the goal is to localize all regions where a function of interest lies above/below a given threshold as quickly as possible. We present a finite-horizon search procedure to perform LSE in one dimension while optimally balancing both the final estimation error and the distance traveled for a fixed number of samples. A tuning parameter is used to trade off between the estimation accuracy and distance traveled. We show that the resulting optimization problem can be solved in closed form and that the resulting policy generalizes existing approaches to this problem. We then show how this approach can be used to perform level set estimation in higher dimensions under the popular Gaussian process model. Empirical results on synthetic data indicate that as the cost of travel increases, our method's ability to treat distance nonmyopically allows it to significantly improve on the state of the art. On real air quality data, our approach achieves roughly one fifth the estimation error at less than half the cost of competing algorithms.

This paper introduces a differentiable representation for optimization of boustrophedon path plans in convex polygons, explores an additional parameter of these path plans that can be optimized, discusses the properties of this representation that can be leveraged during the optimization process, and shows that the previously published attempt at optimization of these path plans was too coarse to be practically useful. Experiments were conducted to show that this differentiable representation can reproduce the same scores from transitional discrete representations of boustrophedon path plans with high fidelity. Finally, optimization via gradient descent was attempted, but found to fail because the search space is far more non-convex than was previously considered in the literature. The wide range of applications for boustrophedon path plans means that this work has the potential to improve path planning efficiency in numerous areas of robotics including mapping and search tasks using uncrewed aerial systems, environmental sampling tasks using uncrewed marine vehicles, and agricultural tasks using ground vehicles, among numerous others applications.

Crown-of-Thorn Starfish (COTS) outbreaks are a major cause of coral loss on the Great Barrier Reef (GBR) and substantial surveillance and control programs are underway in an attempt to manage COTS populations to ecologically sustainable levels. We release a large-scale, annotated underwater image dataset from a COTS outbreak area on the GBR, to encourage research on Machine Learning and AI-driven technologies to improve the detection, monitoring, and management of COTS populations at reef scale. The dataset is released and hosted in a Kaggle competition that challenges the international Machine Learning community with the task of COTS detection from these underwater images.

Arctic coastal morphology is governed by multiple factors, many of which are affected by climatological changes. As the season length for shorefast ice decreases and temperatures warm permafrost soils, coastlines are more susceptible to erosion from storm waves. Such coastal erosion is a concern, since the majority of the population centers and infrastructure in the Arctic are located near the coasts. Stakeholders and decision makers increasingly need models capable of scenario-based predictions to assess and mitigate the effects of coastal morphology on infrastructure and land use. Our research uses Gaussian process models to forecast Arctic coastal erosion along the Beaufort Sea near Drew Point, AK. Gaussian process regression is a data-driven modeling methodology capable of extracting patterns and trends from data-sparse environments such as remote Arctic coastlines. To train our model, we use annual coastline positions and near-shore summer temperature averages from existing datasets and extend these data by extracting additional coastlines from satellite imagery. We combine our calibrated models with future climate models to generate a range of plausible future erosion scenarios. Our results show that the Gaussian process methodology substantially improves yearly predictions compared to linear and nonlinear least squares methods, and is capable of generating detailed forecasts suitable for use by decision makers.