Reservoir-enhanced Segment Anything Model for Subsurface Diagnosis

Urban roads and infrastructure, vital to city operations, face growing threats from subsurface anomalies like cracks and cavities. Ground Penetrating Radar (GPR) effectively visualizes underground conditions employing electromagnetic (EM) waves; however, accurate anomaly detection via GPR remains challenging due to limited labeled data, varying subsurface conditions, and indistinct target boundaries. Although visually image-like, GPR data fundamentally represent EM waves, with variations within and between waves critical for identifying anomalies. Addressing these, we propose the Reservoir-enhanced Segment Anything Model (Res-SAM), an innovative framework exploiting both visual discernibility and wave-changing properties of GPR data. Res-SAM initially identifies apparent candidate anomaly regions given minimal prompts, and further refines them by analyzing anomaly-induced changing information within and between EM waves in local GPR data, enabling precise and complete anomaly region extraction and category determination. Real-world experiments demonstrate that Res-SAM achieves high detection accuracy (>85%) and outperforms state-of-the-art. Notably, Res-SAM requires only minimal accessible non-target data, avoids intensive training, and incorporates simple human interaction to enhance reliability. Our research provides a scalable, resource-efficient solution for rapid subsurface anomaly detection across diverse environments, improving urban safety monitoring while reducing manual effort and computational cost.

Field Report on Ground Penetrating Radar for Localization at the Mars Desert Research Station

In this field report, we detail the lessons learned from our field expedition to collect Ground Penetrating Radar (GPR) data in a Mars analog environment for the purpose of validating GPR localization techniques in rugged environments. Planetary rovers are already equipped with GPR for geologic subsurface characterization. GPR has been successfully used to localize vehicles on Earth, but it has not yet been explored as another modality for localization on a planetary rover. Leveraging GPR for localization can aid in efficient and robust rover pose estimation. In order to demonstrate localizing GPR in a Mars analog environment, we collected over 50 individual survey trajectories during a two-week period at the Mars Desert Research Station (MDRS). In this report, we discuss our methodology, lessons learned, and opportunities for future work.

MarsLGPR: Mars Rover Localization with Ground Penetrating Radar

In this work, we propose the use of Ground Penetrating Radar (GPR) for rover localization on Mars. Precise pose estimation is an important task for mobile robots exploring planetary surfaces, as they operate in GPS-denied environments. Although visual odometry provides accurate localization, it is computationally expensive and can fail in dim or high-contrast lighting. Wheel encoders can also provide odometry estimation, but are prone to slipping on the sandy terrain encountered on Mars. Although traditionally a scientific surveying sensor, GPR has been used on Earth for terrain classification and localization through subsurface feature matching. The Perseverance rover and the upcoming ExoMars rover have GPR sensors already equipped to aid in the search of water and mineral resources. We propose to leverage GPR to aid in Mars rover localization. Specifically, we develop a novel GPR-based deep learning model that predicts 1D relative pose translation. We fuse our GPR pose prediction method with inertial and wheel encoder data in a filtering framework to output rover localization. We perform experiments in a Mars analog environment and demonstrate that our GPR-based displacement predictions both outperform wheel encoders and improve multi-modal filtering estimates in high-slip environments. Lastly, we present the first dataset aimed at GPR-based localization in Mars analog environments, which will be made publicly available upon publication.

HiGP: A high-performance Python package for Gaussian Process

Gaussian Processes (GPs) are flexible, nonparametric Bayesian models widely used for regression and classification tasks due to their ability to capture complex data patterns and provide uncertainty quantification (UQ). Traditional GP implementations often face challenges in scalability and computational efficiency, especially with large datasets. To address these challenges, HiGP, a high-performance Python package, is designed for efficient Gaussian Process regression (GPR) and classification (GPC) across datasets of varying sizes. HiGP combines multiple new iterative methods to enhance the performance and efficiency of GP computations. It implements various effective matrix-vector (MatVec) and matrix-matrix (MatMul) multiplication strategies specifically tailored for kernel matrices. To improve the convergence of iterative methods, HiGP also integrates the recently developed Adaptive Factorized Nystrom (AFN) preconditioner and employs precise formulas for computing the gradients. With a user-friendly Python interface, HiGP seamlessly integrates with PyTorch and other Python packages, allowing easy incorporation into existing machine learning and data analysis workflows.

EDENet: Echo Direction Encoding Network for Place Recognition Based on Ground Penetrating Radar

Ground penetrating radar (GPR) based localization has gained significant recognition in robotics due to its ability to detect stable subsurface features, offering advantages in environments where traditional sensors like cameras and LiDAR may struggle. However, existing methods are primarily focused on small-scale place recognition (PR), leaving the challenges of PR in large-scale maps unaddressed. These challenges include the inherent sparsity of underground features and the variability in underground dielectric constants, which complicate robust localization. In this work, we investigate the geometric relationship between GPR echo sequences and underground scenes, leveraging the robustness of directional features to inform our network design. We introduce learnable Gabor filters for the precise extraction of directional responses, coupled with a direction-aware attention mechanism for effective geometric encoding. To further enhance performance, we incorporate a shift-invariant unit and a multi-scale aggregation strategy to better accommodate variations in di-electric constants. Experiments conducted on public datasets demonstrate that our proposed EDENet not only surpasses existing solutions in terms of PR performance but also offers advantages in model size and computational efficiency.

Forecasting Monthly Residential Natural Gas Demand Using Just-In-Time-Learning Modeling

Natural gas (NG) is relatively a clean source of energy, particularly compared to fossil fuels, and worldwide consumption of NG has been increasing almost linearly in the last two decades. A similar trend can also be seen in Turkey, while another similarity is the high dependence on imports for the continuous NG supply. It is crucial to accurately forecast future NG demand (NGD) in Turkey, especially, for import contracts; in this respect, forecasts of monthly NGD for the following year are of utmost importance. In the current study, the historical monthly NG consumption data between 2014 and 2024 provided by SOCAR, the local residential NG distribution company for two cities in Turkey, Bursa and Kayseri, was used to determine out-of-sample monthly NGD forecasts for a period of one year and nine months using various time series models, including SARIMA and ETS models, and a novel proposed machine learning method. The proposed method, named Just-in-Time-Learning-Gaussian Process Regression (JITL-GPR), uses a novel feature representation for the past NG demand values; instead of using past demand values as column-wise separate features, they are placed on a two-dimensional (2-D) grid of year-month values. For each test point, a kernel function, tailored for the NGD predictions, is used in GPR to predict the query point. Since a model is constructed separately for each test point, the proposed method is, indeed, an example of JITL. The JITL-GPR method is easy to use and optimize, and offers a reduction in forecast errors compared to traditional time series methods and a state-of-the-art combination model; therefore, it is a promising tool for NGD forecasting in similar settings.

Distributionally Robust Active Learning for Gaussian Process Regression

Gaussian process regression (GPR) or kernel ridge regression is a widely used and powerful tool for nonlinear prediction. Therefore, active learning (AL) for GPR, which actively collects data labels to achieve an accurate prediction with fewer data labels, is an important problem. However, existing AL methods do not theoretically guarantee prediction accuracy for target distribution. Furthermore, as discussed in the distributionally robust learning literature, specifying the target distribution is often difficult. Thus, this paper proposes two AL methods that effectively reduce the worst-case expected error for GPR, which is the worst-case expectation in target distribution candidates. We show an upper bound of the worst-case expected squared error, which suggests that the error will be arbitrarily small by a finite number of data labels under mild conditions. Finally, we demonstrate the effectiveness of the proposed methods through synthetic and real-world datasets.

Planning, scheduling, and execution on the Moon: the CADRE technology demonstration mission

NASA's Cooperative Autonomous Distributed Robotic Exploration (CADRE) mission, slated for flight to the Moon's Reiner Gamma region in 2025/2026, is designed to demonstrate multi-agent autonomous exploration of the Lunar surface and sub-surface. A team of three robots and a base station will autonomously explore a region near the lander, collecting the data required for 3D reconstruction of the surface with no human input; and then autonomously perform distributed sensing with multi-static ground penetrating radars (GPR), driving in formation while performing coordinated radar soundings to create a map of the subsurface. At the core of CADRE's software architecture is a novel autonomous, distributed planning, scheduling, and execution (PS&E) system. The system coordinates the robots' activities, planning and executing tasks that require multiple robots' participation while ensuring that each individual robot's thermal and power resources stay within prescribed bounds, and respecting ground-prescribed sleep-wake cycles. The system uses a centralized-planning, distributed-execution paradigm, and a leader election mechanism ensures robustness to failures of individual agents. In this paper, we describe the architecture of CADRE's PS&E system; discuss its design rationale; and report on verification and validation (V&V) testing of the system on CADRE's hardware in preparation for deployment on the Moon.

2D Integrated Bayesian Tomography of Plasma Electron Density Profile for HL-3 Based on Gaussian Process

This paper introduces an integrated Bayesian model that combines line integral measurements and point values using Gaussian Process (GP). The proposed method leverages Gaussian Process Regression (GPR) to incorporate point values into 2D profiles and employs coordinate mapping to integrate magnetic flux information for 2D inversion. The average relative error of the reconstructed profile, using the integrated Bayesian tomography model with normalized magnetic flux, is as low as 3.60*10^(-4). Additionally, sensitivity tests were conducted on the number of grids, the standard deviation of synthetic diagnostic data, and noise levels, laying a solid foundation for the application of the model to experimental data. This work not only achieves accurate 2D inversion using the integrated Bayesian model but also provides a robust framework for decoupling pressure information from equilibrium reconstruction, thus making it possible to optimize equilibrium reconstruction using inversion results.

Machine learning-guided construction of an analytic kinetic energy functional for orbital free density functional theory

Machine learning (ML) of kinetic energy functionals (KEF) for orbital-free density functional theory (OF-DFT) holds the promise of addressing an important bottleneck in large-scale ab initio materials modeling where sufficiently accurate analytic KEFs are lacking. However, ML models are not as easily handled as analytic expressions; they need to be provided in the form of algorithms and associated data. Here, we bridge the two approaches and construct an analytic expression for a KEF guided by interpretative machine learning of crystal cell-averaged kinetic energy densities ({\tau}) of several hundred materials. A previously published dataset including multiple phases of 433 unary, binary, and ternary compounds containing Li, Al, Mg, Si, As, Ga, Sb, Na, Sn, P, and In was used for training, including data at the equilibrium geometry as well as strained structures. A hybrid Gaussian process regression - neural network (GPR-NN) method was used to understand the type of functional dependence of {\tau} on the features which contained cell-averaged terms of the 4th order gradient expansion and the product of the electron density and Kohn-Sham effective potential. Based on this analysis, an analytic model is constructed that can reproduce Kohn-Sham DFT energy-volume curves with sufficient accuracy (pronounced minima that are sufficiently close to the minima of the Kohn-Sham DFT-based curves and with sufficiently close curvatures) to enable structure optimizations and elastic response calculations.