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Causal modelling offers great potential to provide autonomous agents the ability to understand the data-generation process that governs their interactions with the world. Such models capture formal knowledge as well as probabilistic representations of noise and uncertainty typically encountered by autonomous robots in real-world environments. Thus, causality can aid autonomous agents in making decisions and explaining outcomes, but deploying causality in such a manner introduces new challenges. Here we identify challenges relating to causality in the context of a drone system operating in a salt mine. Such environments are challenging for autonomous agents because of the presence of confounders, non-stationarity, and a difficulty in building complete causal models ahead of time. To address these issues, we propose a probabilistic causal framework consisting of: causally-informed POMDP planning, online SCM adaptation, and post-hoc counterfactual explanations. Further, we outline planned experimentation to evaluate the framework integrated with a drone system in simulated mine environments and on a real-world mine dataset.

To reduce the computational cost of convolutional neural networks (CNNs) for usage on resource-constrained devices, structured pruning approaches have shown promising results, drastically reducing floating-point operations (FLOPs) without substantial drops in accuracy. However, most recent methods require fine-tuning or specific training procedures to achieve a reasonable trade-off between retained accuracy and reduction in FLOPs. This introduces additional cost in the form of computational overhead and requires training data to be available. To this end, we propose HASTE (Hashing for Tractable Efficiency), a parameter-free and data-free module that acts as a plug-and-play replacement for any regular convolution module. It instantly reduces the network's test-time inference cost without requiring any training or fine-tuning. We are able to drastically compress latent feature maps without sacrificing much accuracy by using locality-sensitive hashing (LSH) to detect redundancies in the channel dimension. Similar channels are aggregated to reduce the input and filter depth simultaneously, allowing for cheaper convolutions. We demonstrate our approach on the popular vision benchmarks CIFAR-10 and ImageNet. In particular, we are able to instantly drop 46.72% of FLOPs while only losing 1.25% accuracy by just swapping the convolution modules in a ResNet34 on CIFAR-10 for our HASTE module.

Currently, truss tomato weighing and packaging require significant manual work. The main obstacle to automation lies in the difficulty of developing a reliable robotic grasping system for already harvested trusses. We propose a method to grasp trusses that are stacked in a crate with considerable clutter, which is how they are commonly stored and transported after harvest. The method consists of a deep learning-based vision system to first identify the individual trusses in the crate and then determine a suitable grasping location on the stem. To this end, we have introduced a grasp pose ranking algorithm with online learning capabilities. After selecting the most promising grasp pose, the robot executes a pinch grasp without needing touch sensors or geometric models. Lab experiments with a robotic manipulator equipped with an eye-in-hand RGB-D camera showed a 100% clearance rate when tasked to pick all trusses from a pile. 93% of the trusses were successfully grasped on the first try, while the remaining 7% required more attempts.

Self-supervised learning (SSL) techniques have achieved remarkable results in various speech processing tasks. Nonetheless, a significant challenge remains in reducing the reliance on vast amounts of speech data for pre-training. This paper proposes to address this challenge by leveraging synthetic speech to augment a low-resource pre-training corpus. We construct a high-quality text-to-speech (TTS) system with limited resources using SSL features and generate a large synthetic corpus for pre-training. Experimental results demonstrate that our proposed approach effectively reduces the demand for speech data by 90\% with only slight performance degradation. To the best of our knowledge, this is the first work aiming to enhance low-resource self-supervised learning in speech processing.

Manufacturing industries are increasingly adopting additive manufacturing (AM) technologies to produce functional parts in critical systems. However, the inherent complexity of both AM designs and AM processes render them attractive targets for cyber-attacks. Risk-based Information Technology (IT) and Operational Technology (OT) security guidance standards are useful resources for AM security practitioners, but the guidelines they provide are insufficient without additional AM-specific revisions. Therefore, a structured layering approach is needed to efficiently integrate these revisions with preexisting IT and OT security guidance standards. To implement such an approach, this paper proposes leveraging the National Institute of Standards and Technology's Cybersecurity Framework (CSF) to develop layered, risk-based guidance for fulfilling specific security outcomes. It begins with an in-depth literature review that reveals the importance of AM data and asset management to risk-based security. Next, this paper adopts the CSF asset identification and management security outcomes as an example for providing AM-specific guidance and identifies the AM geometry and process definitions to aid manufacturers in mapping data flows and documenting processes. Finally, this paper uses the Open Security Controls Assessment Language to integrate the AM-specific guidance together with existing IT and OT security guidance in a rigorous and traceable manner. This paper's contribution is to show how a risk-based layered approach enables the authoring, publishing, and management of AM-specific security guidance that is currently lacking. The authors believe implementation of the layered approach would result in value-added, non-redundant security guidance for AM that is consistent with the preexisting guidance.

We present task-oriented Koopman-based control that utilizes end-to-end reinforcement learning and contrastive encoder to simultaneously learn the Koopman latent embedding, operator and associated linear controller within an iterative loop. By prioritizing the task cost as main objective for controller learning, we reduce the reliance of controller design on a well-identified model, which extends Koopman control beyond low-dimensional systems to high-dimensional, complex nonlinear systems, including pixel-based scenarios.

Face recognition technology has advanced significantly in recent years due largely to the availability of large and increasingly complex training datasets for use in deep learning models. These datasets, however, typically comprise images scraped from news sites or social media platforms and, therefore, have limited utility in more advanced security, forensics, and military applications. These applications require lower resolution, longer ranges, and elevated viewpoints. To meet these critical needs, we collected and curated the first and second subsets of a large multi-modal biometric dataset designed for use in the research and development (R&D) of biometric recognition technologies under extremely challenging conditions. Thus far, the dataset includes more than 350,000 still images and over 1,300 hours of video footage of approximately 1,000 subjects. To collect this data, we used Nikon DSLR cameras, a variety of commercial surveillance cameras, specialized long-rage R&D cameras, and Group 1 and Group 2 UAV platforms. The goal is to support the development of algorithms capable of accurately recognizing people at ranges up to 1,000 m and from high angles of elevation. These advances will include improvements to the state of the art in face recognition and will support new research in the area of whole-body recognition using methods based on gait and anthropometry. This paper describes methods used to collect and curate the dataset, and the dataset's characteristics at the current stage.

With the extremely rapid advances in remote sensing (RS) technology, a great quantity of Earth observation (EO) data featuring considerable and complicated heterogeneity is readily available nowadays, which renders researchers an opportunity to tackle current geoscience applications in a fresh way. With the joint utilization of EO data, much research on multimodal RS data fusion has made tremendous progress in recent years, yet these developed traditional algorithms inevitably meet the performance bottleneck due to the lack of the ability to comprehensively analyse and interpret these strongly heterogeneous data. Hence, this non-negligible limitation further arouses an intense demand for an alternative tool with powerful processing competence. Deep learning (DL), as a cutting-edge technology, has witnessed remarkable breakthroughs in numerous computer vision tasks owing to its impressive ability in data representation and reconstruction. Naturally, it has been successfully applied to the field of multimodal RS data fusion, yielding great improvement compared with traditional methods. This survey aims to present a systematic overview in DL-based multimodal RS data fusion. More specifically, some essential knowledge about this topic is first given. Subsequently, a literature survey is conducted to analyse the trends of this field. Some prevalent sub-fields in the multimodal RS data fusion are then reviewed in terms of the to-be-fused data modalities, i.e., spatiospectral, spatiotemporal, light detection and ranging-optical, synthetic aperture radar-optical, and RS-Geospatial Big Data fusion. Furthermore, We collect and summarize some valuable resources for the sake of the development in multimodal RS data fusion. Finally, the remaining challenges and potential future directions are highlighted.

Deep neural networks (DNNs) have been found to be vulnerable to adversarial examples resulting from adding small-magnitude perturbations to inputs. Such adversarial examples can mislead DNNs to produce adversary-selected results. Different attack strategies have been proposed to generate adversarial examples, but how to produce them with high perceptual quality and more efficiently requires more research efforts. In this paper, we propose AdvGAN to generate adversarial examples with generative adversarial networks (GANs), which can learn and approximate the distribution of original instances. For AdvGAN, once the generator is trained, it can generate adversarial perturbations efficiently for any instance, so as to potentially accelerate adversarial training as defenses. We apply AdvGAN in both semi-whitebox and black-box attack settings. In semi-whitebox attacks, there is no need to access the original target model after the generator is trained, in contrast to traditional white-box attacks. In black-box attacks, we dynamically train a distilled model for the black-box model and optimize the generator accordingly. Adversarial examples generated by AdvGAN on different target models have high attack success rate under state-of-the-art defenses compared to other attacks. Our attack has placed the first with 92.76% accuracy on a public MNIST black-box attack challenge.

In this paper, we propose the joint learning attention and recurrent neural network (RNN) models for multi-label classification. While approaches based on the use of either model exist (e.g., for the task of image captioning), training such existing network architectures typically require pre-defined label sequences. For multi-label classification, it would be desirable to have a robust inference process, so that the prediction error would not propagate and thus affect the performance. Our proposed model uniquely integrates attention and Long Short Term Memory (LSTM) models, which not only addresses the above problem but also allows one to identify visual objects of interests with varying sizes without the prior knowledge of particular label ordering. More importantly, label co-occurrence information can be jointly exploited by our LSTM model. Finally, by advancing the technique of beam search, prediction of multiple labels can be efficiently achieved by our proposed network model.