Vincent C. S. Lee

Alif Tri Handoyo, Vincent C. S. Lee, Rizka Widyarini Purwanto et al.

Automatically mapping and segmenting global mining footprints using remote sensing and deep learning is critical for monitoring the socio-environmental risks and impacts of mining, yet its progress is hindered by the scarcity of fine-grained annotated data. Although large-scale datasets with coarse boundaries are widely available, leveraging them to improve fine-grained segmentation is challenging due to significant domain shift. To address this, we propose MineC2FNet, a coarse-to-fine domain incremental learning framework that exploits abundant coarse data to enhance fine-grained mining footprint segmentation. MineC2FNet adopts a teacher-student architecture with attentive distillation at both the feature and prediction levels, selectively transferring generalized knowledge from the coarse domain while enabling boundary refinement using limited fine-grained data (fine domain). We further introduce an expertly validated dataset of 219 images with precise boundary annotations across diverse geographies and commodities. Extensive experiments against state-of-the-art approaches, including domain adaptation and domain incremental learning methods, demonstrate that MineC2FNet achieves superior performance while effectively handling domain shift. The dataset and code are publicly available at https://github.com/risqiutama/MineC2FNet.

Phillip Smith, Aldeida Aleti, Vincent C. S. Lee et al.

This paper explores the use of a novel form of Hierarchical Graph Neurons (HGN) for in-operation behaviour selection in a swarm of robotic agents. This new HGN is called Robotic-HGN (R-HGN), as it matches robot environment observations to environment labels via fusion of match probabilities from both temporal and intra-swarm collections. This approach is novel for HGN as it addresses robotic observations being pseudo-continuous numbers, rather than categorical values. Additionally, the proposed approach is memory and computation-power conservative and thus is acceptable for use in mobile devices such as single-board computers, which are often used in mobile robotic agents. This R-HGN approach is validated against individual behaviour implementation and random behaviour selection. This contrast is made in two sets of simulated environments: environments designed to challenge the held behaviours of the R-HGN, and randomly generated environments which are more challenging for the robotic swarm than R-HGN training conditions. R-HGN has been found to enable appropriate behaviour selection in both these sets, allowing significant swarm performance in pre-trained and unexpected environment conditions.