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Robotic capacities in object manipulation are incomparable to those of humans. Besides years of learning, humans rely heavily on the richness of information from physical interaction with the environment. In particular, tactile sensing is crucial in providing such rich feedback. Despite its potential contributions to robotic manipulation, tactile sensing is less exploited; mainly due to the complexity of the time series provided by tactile sensors. In this work, we propose a method for assessing grasp stability using tactile sensing. More specifically, we propose a methodology to extract task-relevant features and design efficient classifiers to detect object slippage with respect to individual fingertips. We compare two classification models: support vector machine and logistic regression. We use highly sensitive Uskin tactile sensors mounted on an Allegro hand to test and validate our method. Our results demonstrate that the proposed method is effective in slippage detection in an online fashion.

In relational verification, judicious alignment of computational steps facilitates proof of relations between programs using simple relational assertions. Relational Hoare logics (RHL) provide compositional rules that embody various alignments of executions. Seemingly more flexible alignments can be expressed in terms of product automata based on program transition relations. A single degenerate alignment rule (self-composition), atop a complete Hoare logic, comprises a RHL for $\forall\forall$ properties that is complete in the ordinary logical sense. The notion of alignment completeness was previously proposed as a more satisfactory measure, and some rules were shown to be alignment complete with respect to a few ad hoc forms of alignment automata. This paper proves alignment completeness with respect to a general class of $\forall\forall$ alignment automata, for a RHL comprised of standard rules together with a rule of semantics-preserving rewrites based on Kleene algebra with tests. A new logic for $\forall\exists$ properties is introduced and shown to be alignment complete. The $\forall\forall$ and $\forall\exists$ automata are shown to be semantically complete. Thus the logics are both complete in the ordinary sense.

In survival analysis, complex machine learning algorithms have been increasingly used for predictive modeling. Given a collection of features available for inclusion in a predictive model, it may be of interest to quantify the relative importance of a subset of features for the prediction task at hand. In particular, in HIV vaccine trials, participant baseline characteristics are used to predict the probability of infection over the intended follow-up period, and investigators may wish to understand how much certain types of predictors, such as behavioral factors, contribute toward overall predictiveness. Time-to-event outcomes such as time to infection are often subject to right censoring, and existing methods for assessing variable importance are typically not intended to be used in this setting. We describe a broad class of algorithm-agnostic variable importance measures for prediction in the context of survival data. We propose a nonparametric efficient estimation procedure that incorporates flexible learning of nuisance parameters, yields asymptotically valid inference, and enjoys double-robustness. We assess the performance of our proposed procedure via numerical simulations and analyze data from the HVTN 702 study to inform enrollment strategies for future HIV vaccine trials.

In many applications, it is of interest to identify a parsimonious set of features, or panel, from multiple candidates that achieves a desired level of performance in predicting a response. This task is often complicated in practice by missing data arising from the sampling design or other random mechanisms. Most recent work on variable selection in missing data contexts relies in some part on a finite-dimensional statistical model, e.g., a generalized or penalized linear model. In cases where this model is misspecified, the selected variables may not all be truly scientifically relevant and can result in panels with suboptimal classification performance. To address this limitation, we propose a nonparametric variable selection algorithm combined with multiple imputation to develop flexible panels in the presence of missing-at-random data. We outline strategies based on the proposed algorithm that achieve control of commonly used error rates. Through simulations, we show that our proposal has good operating characteristics and results in panels with higher classification and variable selection performance compared to several existing penalized regression approaches in cases where a generalized linear model is misspecified. Finally, we use the proposed method to develop biomarker panels for separating pancreatic cysts with differing malignancy potential in a setting where complicated missingness in the biomarkers arose due to limited specimen volumes.

Brain-computer interfaces (BCIs) offer a way to interact with computers without relying on physical movements. Non-invasive electroencephalography (EEG)-based visual BCIs, known for efficient speed and calibration ease, face limitations in continuous tasks due to discrete stimulus design and decoding methods. To achieve continuous control, we implemented a novel spatial encoding stimulus paradigm and devised a corresponding projection method to enable continuous modulation of decoded velocity. Subsequently, we conducted experiments involving 17 participants and achieved Fitt's ITR of 0.55 bps for the fixed tracking task and 0.37 bps for the random tracking task. The proposed BCI with a high Fitt's ITR was then integrated into two applications, including painting and gaming. In conclusion, this study proposed a visual BCI-based control method to go beyond discrete commands, allowing natural continuous control based on neural activity.

We introduce PUNQ, a novel quantum programming language with quantum control, which features higher-order programs that can be superposed, enabling quantum control via quantum conditionals. Our language boasts a type system guaranteeing both unitarity and polynomial-time normalization. Unitarity is achieved by using a special modality for superpositions while requiring orthogonality among superposed terms. Polynomial-time normalization is achieved using a linear-logic-based type discipline employing Barber and Plotkin duality along with a specific modality to account for potential duplications. This type discipline also guarantees that derived values have polynomial size. PUNQ seamlessly combines the two modalities: quantum circuit programs uphold unitarity, and all programs are evaluated in polynomial time, ensuring their feasibility.

Reinforcement learning-based large language models, such as ChatGPT, are believed to have potential to aid human experts in many domains, including healthcare. There is, however, little work on ChatGPT's ability to perform a key task in healthcare: formal, probabilistic medical diagnostic reasoning. This type of reasoning is used, for example, to update a pre-test probability to a post-test probability. In this work, we probe ChatGPT's ability to perform this task. In particular, we ask ChatGPT to give examples of how to use Bayes rule for medical diagnosis. Our prompts range from queries that use terminology from pure probability (e.g., requests for a "posterior probability") to queries that use terminology from the medical diagnosis literature (e.g., requests for a "post-test probability"). We show how the introduction of medical variable names leads to an increase in the number of errors that ChatGPT makes. Given our results, we also show how one can use prompt engineering to facilitate ChatGPT's partial avoidance of these errors. We discuss our results in light of recent commentaries on sensitivity and specificity. We also discuss how our results might inform new research directions for large language models.

The goal of explainable Artificial Intelligence (XAI) is to generate human-interpretable explanations, but there are no computationally precise theories of how humans interpret AI generated explanations. The lack of theory means that validation of XAI must be done empirically, on a case-by-case basis, which prevents systematic theory-building in XAI. We propose a psychological theory of how humans draw conclusions from saliency maps, the most common form of XAI explanation, which for the first time allows for precise prediction of explainee inference conditioned on explanation. Our theory posits that absent explanation humans expect the AI to make similar decisions to themselves, and that they interpret an explanation by comparison to the explanations they themselves would give. Comparison is formalized via Shepard's universal law of generalization in a similarity space, a classic theory from cognitive science. A pre-registered user study on AI image classifications with saliency map explanations demonstrate that our theory quantitatively matches participants' predictions of the AI.

Graph representation learning for hypergraphs can be used to extract patterns among higher-order interactions that are critically important in many real world problems. Current approaches designed for hypergraphs, however, are unable to handle different types of hypergraphs and are typically not generic for various learning tasks. Indeed, models that can predict variable-sized heterogeneous hyperedges have not been available. Here we develop a new self-attention based graph neural network called Hyper-SAGNN applicable to homogeneous and heterogeneous hypergraphs with variable hyperedge sizes. We perform extensive evaluations on multiple datasets, including four benchmark network datasets and two single-cell Hi-C datasets in genomics. We demonstrate that Hyper-SAGNN significantly outperforms the state-of-the-art methods on traditional tasks while also achieving great performance on a new task called outsider identification. Hyper-SAGNN will be useful for graph representation learning to uncover complex higher-order interactions in different applications.