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NASA's forthcoming Lunar Gateway space station, which will be uncrewed most of the time, will need to operate with an unprecedented level of autonomy. Enhancing autonomy on the Gateway presents several unique challenges, one of which is to equip the Canadarm3, the Gateway's external robotic system, with the capability to perform worksite monitoring. Monitoring will involve using the arm's inspection cameras to detect any anomalies within the operating environment, a task complicated by the widely-varying lighting conditions in space. In this paper, we introduce the visual anomaly detection and localization task for space applications and establish a benchmark with our novel synthetic dataset called ALLO (for Anomaly Localization in Lunar Orbit). We develop a complete data generation pipeline to create ALLO, which we use to evaluate the performance of state-of-the-art visual anomaly detection algorithms. Given the low tolerance for risk during space operations and the lack of relevant data, we emphasize the need for novel, robust, and accurate anomaly detection methods to handle the challenging visual conditions found in lunar orbit and beyond., Comment: Submitted to International Conference on Robotics and Automation (ICRA'25), Atlanta, USA, May 19-23, 2025

With the growing amount of text in health data, there have been rapid advances in large pre-trained models that can be applied to a wide variety of biomedical tasks with minimal task-specific modifications. Emphasizing the cost of these models, which renders technical replication challenging, this paper summarizes experiments conducted in replicating BioBERT and further pre-training and careful fine-tuning in the biomedical domain. We also investigate the effectiveness of domain-specific and domain-agnostic pre-trained models across downstream biomedical NLP tasks. Our finding confirms that pre-trained models can be impactful in some downstream NLP tasks (QA and NER) in the biomedical domain; however, this improvement may not justify the high cost of domain-specific pre-training.