Land cover mapping is essential for monitoring global environmental change and managing natural resources. Unfortunately, traditional classification models are plagued by limited training data available in existing land cover products and data heterogeneity over space and time. In this survey, we provide a structured and comprehensive overview of challenges in land cover mapping and machine learning methods used to address these problems. We also discuss the gaps and opportunities that exist for advancing research in this promising direction.
We present a method for fast and accurate physics-based predictions during non-prehensile manipulation planning and control. Given an initial state and a sequence of controls, the problem of predicting the resulting sequence of states is a key component of a variety of model-based planning and control algorithms. We propose combining a coarse (i.e. computationally cheap but not very accurate) predictive physics model, with a fine (i.e. computationally expensive but accurate) predictive physics model, to generate a hybrid model that is at the required speed and accuracy for a given manipulation task. Our approach is based on the Parareal algorithm, a parallel-in-time integration method used for computing numerical solutions for general systems of ordinary differential equations. We use Parareal to combine a coarse pushing model with an off-the-shelf physics engine to deliver physics-based predictions that are as accurate as the physics engine but runs in substantially less wall-clock time, thanks to Parareal being amenable to parallelization. We use these physics-based predictions in a model-predictive-control framework based on trajectory optimization, to plan pushing actions that avoid an obstacle and reach a goal location. We show that by combining the two physics models, we can achieve the same success rates as the planner that uses the off-the-shelf physics engine directly, but significantly faster. We present experiments in simulation and on a real robotic setup.
Celestial bodies such as the Moon and Mars are mainly covered by loose, granular soil, a notoriously challenging terrain to traverse with (wheeled) robotic systems. Here, we present experimental work on traversing steep, granular slopes with the dynamically walking quadrupedal robot SpaceBok. To adapt to the challenging environment, we developed passive-adaptive planar feet and optimized grouser pads to reduce sinkage and increase traction on planar and inclined granular soil. Single-foot experiments revealed that a large surface area of 110cm2 per foot reduces sinkage to an acceptable level even on highly collapsible soil (ES-1). Implementing several 12mm grouser blades increases traction by 22% to 66% on granular media compared to grouser-less designs. Together with a terrain-adapting walking controller, we validate - for the first time - static and dynamic locomotion on Mars analog slopes of up to 25{\deg}(the maximum of the testbed). We evaluated the performance between point- and planar feet and static and dynamic gaits regarding stability (safety), velocity, and energy consumption. We show that dynamic gaits are energetically more efficient than static gaits but are riskier on steep slopes. Our tests also revealed that planar feet's energy consumption drastically increases when the slope inclination approaches the soil's angle of internal friction due to shearing. Point feet are less affected by slippage due to their excessive sinkage, but in turn, are prone to instabilities and tripping. We present and discuss safe and energy-efficient global path-planning strategies for accessing steep topography on Mars based on our findings.
Sequential Recommendation characterizes the evolving patterns by modeling item sequences chronologically. The essential target of it is to capture the item transition correlations. The recent developments of transformer inspire the community to design effective sequence encoders, \textit{e.g.,} SASRec and BERT4Rec. However, we observe that these transformer-based models suffer from the cold-start issue, \textit{i.e.,} performing poorly for short sequences. Therefore, we propose to augment short sequences while still preserving original sequential correlations. We introduce a new framework for \textbf{A}ugmenting \textbf{S}equential \textbf{Re}commendation with \textbf{P}seudo-prior items~(ASReP). We firstly pre-train a transformer with sequences in a reverse direction to predict prior items. Then, we use this transformer to generate fabricated historical items at the beginning of short sequences. Finally, we fine-tune the transformer using these augmented sequences from the time order to predict the next item. Experiments on two real-world datasets verify the effectiveness of ASReP. The code is available on \url{https://github.com/DyGRec/ASReP}.
Real-world applications have been dealing with large amounts of data that arrive over time and generally present changes in their underlying joint probability distribution, i.e., concept drift. Concept drift can be subdivided into two types: virtual drift, which affects the unconditional probability distribution p(x), and real drift, which affects the conditional probability distribution p(y|x). Existing works focuses on real drift. However, strategies to cope with real drift may not be the best suited for dealing with virtual drift, since the real class boundaries remain unchanged. We provide the first in depth analysis of the differences between the impact of virtual and real drifts on classifiers' suitability. We propose an approach to handle both drifts called On-line Gaussian Mixture Model With Noise Filter For Handling Virtual and Real Concept Drifts (OGMMF-VRD). Experiments with 7 synthetic and 3 real-world datasets show that OGMMF-VRD obtained the best results in terms of average accuracy, G-mean and runtime compared to existing approaches. Moreover, its accuracy over time suffered less performance degradation in the presence of drifts.
Predicting unscheduled breakdowns of plasma etching equipment can reduce maintenance costs and production losses in the semiconductor industry. However, plasma etching is a complex procedure and it is hard to capture all relevant equipment properties and behaviors in a single physical model. Machine learning offers an alternative for predicting upcoming machine failures based on relevant data points. In this paper, we describe three different machine learning tasks that can be used for that purpose: (i) predicting Time-To-Failure (TTF), (ii) predicting health state, and (iii) predicting TTF intervals of an equipment. Our results show that trained machine learning models can outperform benchmarks resembling human judgments in all three tasks. This suggests that machine learning offers a viable alternative to currently deployed plasma etching equipment maintenance strategies and decision making processes.
Applications in materials and biological imaging are limited by the ability to collect high-resolution data over large areas in practical amounts of time. One possible solution to this problem is to collect low-resolution data and interpolate to produce a high-resolution image. However, state-of-the-art super-resolution algorithms are typically designed for natural images, require aligned pairing of high and low-resolution training data for optimal performance, and do not directly incorporate a model of the imaging sensor. In this paper, we present a Multi-Resolution Data Fusion (MDF) algorithm for accurate interpolation of low-resolution SEM and TEM data by factors of 4x and 8x. This MDF interpolation algorithm uses small quantities of unpaired high-resolution data to learn an accurate prior model denoiser and balances this with a forward model agent based on a mismatched back-projector that maintains fidelity to measured data. Our method is based on Multi-Agent Consensus Equilibrium, a generalization of the Plug-and-Play method, and allows for interpolation at arbitrary resolutions without retraining. We present electron microscopy results at 4x and 8x interpolation factors that exhibit reduced artifacts relative to existing methods while maintaining fidelity to acquired data and accurately resolving sub-pixel-scale features.
Deep Neural Networks (DNNs) suffer from a rapid decrease in performance when trained on a sequence of tasks where only data of the most recent task is available. This phenomenon, known as catastrophic forgetting, prevents DNNs from accumulating knowledge over time. Overcoming catastrophic forgetting and enabling continual learning is of great interest since it would enable the application of DNNs in settings where unrestricted access to all the training data at any time is not always possible, e.g. due to storage limitations or legal issues. While many recently proposed methods for continual learning use some training examples for rehearsal, their performance strongly depends on the number of stored examples. In order to improve performance of rehearsal for continual learning, especially for a small number of stored examples, we propose a novel way of learning a small set of synthetic examples which capture the essence of a complete dataset. Instead of directly learning these synthetic examples, we learn a weighted combination of shared components for each example that enables a significant increase in memory efficiency. We demonstrate the performance of our method on commonly used datasets and compare it to recently proposed related methods and baselines.
The wavelet Maximum Entropy on the Mean (wMEM) approach to the MEG inverse problem is revisited and extended to infer brain activity from full space-time data. The resulting dimensionality increase is tackled using a collection of techniques , that includes time and space dimension reduction (using respectively wavelet and spatial filter based reductions), Kronecker product modeling for covariance matrices, and numerical manipulation of the free energy directly in matrix form. This leads to a smooth numerical optimization problem of reasonable dimension, solved using standard approaches. The method is applied to the MEG inverse problem. Results of a simulation study in the context of slow wave localization from sleep MEG data are presented and discussed. Index Terms: MEG inverse problem, maximum entropy on the mean, wavelet decomposition, spatial filters, Kronecker covariance factorization, sleep slow waves.
Facial phenotyping has recently been successfully exploited for medical diagnosis as a novel way to diagnose a range of diseases, where facial biometrics has been revealed to have rich links to underlying genetic or medical causes. In this paper, taking Parkinson's Diseases (PD) as a case study, we proposed an Artificial-Intelligence-of-Things (AIoT) edge-oriented privacy-preserving facial diagnosis framework to analyze the treatment of Deep Brain Stimulation (DBS) on PD patients. In the proposed framework, a new edge-based information theoretically secure framework is proposed to implement private deep facial diagnosis as a service over a privacy-preserving AIoT-oriented multi-party communication scheme, where partial homomorphic encryption (PHE) is leveraged to enable privacy-preserving deep facial diagnosis directly on encrypted facial patterns. In our experiments with a collected facial dataset from PD patients, for the first time, we demonstrated that facial patterns could be used to valuate the improvement of PD patients undergoing DBS treatment. We further implemented a privacy-preserving deep facial diagnosis framework that can achieve the same accuracy as the non-encrypted one, showing the potential of our privacy-preserving facial diagnosis as an trustworthy edge service for grading the severity of PD in patients.