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Graph neural networks are becoming increasingly popular in the field of machine learning due to their unique ability to process data structured in graphs. They have also been applied in safety-critical environments where perturbations inherently occur. However, these perturbations require us to formally verify neural networks before their deployment in safety-critical environments as neural networks are prone to adversarial attacks. While there exists research on the formal verification of neural networks, there is no work verifying the robustness of generic graph convolutional network architectures with uncertainty in the node features and in the graph structure over multiple message-passing steps. This work addresses this research gap by explicitly preserving the non-convex dependencies of all elements in the underlying computations through reachability analysis with (matrix) polynomial zonotopes. We demonstrate our approach on three popular benchmark datasets.

Recent advances in deep learning have greatly facilitated the automated segmentation of ultrasound images, which is essential for nodule morphological analysis. Nevertheless, most existing methods depend on extensive and precise annotations by domain experts, which are labor-intensive and time-consuming. In this study, we suggest using simple aspect ratio annotations directly from ultrasound clinical diagnoses for automated nodule segmentation. Especially, an asymmetric learning framework is developed by extending the aspect ratio annotations with two types of pseudo labels, i.e., conservative labels and radical labels, to train two asymmetric segmentation networks simultaneously. Subsequently, a conservative-radical-balance strategy (CRBS) strategy is proposed to complementally combine radical and conservative labels. An inconsistency-aware dynamically mixed pseudo-labels supervision (IDMPS) module is introduced to address the challenges of over-segmentation and under-segmentation caused by the two types of labels. To further leverage the spatial prior knowledge provided by clinical annotations, we also present a novel loss function namely the clinical anatomy prior loss. Extensive experiments on two clinically collected ultrasound datasets (thyroid and breast) demonstrate the superior performance of our proposed method, which can achieve comparable and even better performance than fully supervised methods using ground truth annotations.

Survival analysis is widely used as a technique to model time-to-event data when some data is censored, particularly in healthcare for predicting future patient risk. In such settings, survival models must be both accurate and interpretable so that users (such as doctors) can trust the model and understand model predictions. While most literature focuses on discrimination, interpretability is equally as important. A successful interpretable model should be able to describe how changing each feature impacts the outcome, and should only use a small number of features. In this paper, we present DyS (pronounced ``dice''), a new survival analysis model that achieves both strong discrimination and interpretability. DyS is a feature-sparse Generalized Additive Model, combining feature selection and interpretable prediction into one model. While DyS works well for all survival analysis problems, it is particularly useful for large (in $n$ and $p$) survival datasets such as those commonly found in observational healthcare studies. Empirical studies show that DyS competes with other state-of-the-art machine learning models for survival analysis, while being highly interpretable.

We develop the notion of a locally homomorphic channel and prove an approximate equivalence between those and codes for computing functions. Further, we derive decomposition properties of locally homomorphic channels which we use to analyze and construct codes where two messages must be encoded independently. This leads to new results for identification and K-identification when all messages are sent over multiple-access channels, which yield surprising rate improvements compared to naive code constructions. In particular, we demonstrate that for the example of identification with deterministic encoders, both encoders can be constructed independently.

In response to the critical need for effective reconnaissance in disaster scenarios, this research article presents the design and implementation of a complete autonomous robot system using the Turtlebot3 with Robotic Operating System (ROS) Noetic. Upon deployment in closed, initially unknown environments, the system aims to generate a comprehensive map and identify any present 'victims' using AprilTags as stand-ins. We discuss our solution for search and rescue missions, while additionally exploring more advanced algorithms to improve search and rescue functionalities. We introduce a Cubature Kalman Filter to help reduce the mean squared error [m] for AprilTag localization and an information-theoretic exploration algorithm to expedite exploration in unknown environments. Just like turtles, our system takes it slow and steady, but when it's time to save the day, it moves at ninja-like speed! Despite Donatello's shell, he's no slowpoke - he zips through obstacles with the agility of a teenage mutant ninja turtle. So, hang on tight to your shells and get ready for a whirlwind of reconnaissance! Full pipeline code //github.com/rzhao5659/MRProject/tree/main Exploration code //github.com/rzhao5659/MRProject/tree/main

The study of human emotions, traditionally a cornerstone in fields like psychology and neuroscience, has been profoundly impacted by the advent of artificial intelligence (AI). Multiple channels, such as speech (voice) and facial expressions (image), are crucial in understanding human emotions. However, AI's journey in multimodal emotion recognition (MER) is marked by substantial technical challenges. One significant hurdle is how AI models manage the absence of a particular modality - a frequent occurrence in real-world situations. This study's central focus is assessing the performance and resilience of two strategies when confronted with the lack of one modality: a novel multimodal dynamic modality and view selection and a cross-attention mechanism. Results on the RECOLA dataset show that dynamic selection-based methods are a promising approach for MER. In the missing modalities scenarios, all dynamic selection-based methods outperformed the baseline. The study concludes by emphasizing the intricate interplay between audio and video modalities in emotion prediction, showcasing the adaptability of dynamic selection methods in handling missing modalities.

Understanding causality helps to structure interventions to achieve specific goals and enables predictions under interventions. With the growing importance of learning causal relationships, causal discovery tasks have transitioned from using traditional methods to infer potential causal structures from observational data to the field of pattern recognition involved in deep learning. The rapid accumulation of massive data promotes the emergence of causal search methods with brilliant scalability. Existing summaries of causal discovery methods mainly focus on traditional methods based on constraints, scores and FCMs, there is a lack of perfect sorting and elaboration for deep learning-based methods, also lacking some considers and exploration of causal discovery methods from the perspective of variable paradigms. Therefore, we divide the possible causal discovery tasks into three types according to the variable paradigm and give the definitions of the three tasks respectively, define and instantiate the relevant datasets for each task and the final causal model constructed at the same time, then reviews the main existing causal discovery methods for different tasks. Finally, we propose some roadmaps from different perspectives for the current research gaps in the field of causal discovery and point out future research directions.

We examine the problem of question answering over knowledge graphs, focusing on simple questions that can be answered by the lookup of a single fact. Adopting a straightforward decomposition of the problem into entity detection, entity linking, relation prediction, and evidence combination, we explore simple yet strong baselines. On the popular SimpleQuestions dataset, we find that basic LSTMs and GRUs plus a few heuristics yield accuracies that approach the state of the art, and techniques that do not use neural networks also perform reasonably well. These results show that gains from sophisticated deep learning techniques proposed in the literature are quite modest and that some previous models exhibit unnecessary complexity.

We study how to generate captions that are not only accurate in describing an image but also discriminative across different images. The problem is both fundamental and interesting, as most machine-generated captions, despite phenomenal research progresses in the past several years, are expressed in a very monotonic and featureless format. While such captions are normally accurate, they often lack important characteristics in human languages - distinctiveness for each caption and diversity for different images. To address this problem, we propose a novel conditional generative adversarial network for generating diverse captions across images. Instead of estimating the quality of a caption solely on one image, the proposed comparative adversarial learning framework better assesses the quality of captions by comparing a set of captions within the image-caption joint space. By contrasting with human-written captions and image-mismatched captions, the caption generator effectively exploits the inherent characteristics of human languages, and generates more discriminative captions. We show that our proposed network is capable of producing accurate and diverse captions across images.

Recently, deep learning has achieved very promising results in visual object tracking. Deep neural networks in existing tracking methods require a lot of training data to learn a large number of parameters. However, training data is not sufficient for visual object tracking as annotations of a target object are only available in the first frame of a test sequence. In this paper, we propose to learn hierarchical features for visual object tracking by using tree structure based Recursive Neural Networks (RNN), which have fewer parameters than other deep neural networks, e.g. Convolutional Neural Networks (CNN). First, we learn RNN parameters to discriminate between the target object and background in the first frame of a test sequence. Tree structure over local patches of an exemplar region is randomly generated by using a bottom-up greedy search strategy. Given the learned RNN parameters, we create two dictionaries regarding target regions and corresponding local patches based on the learned hierarchical features from both top and leaf nodes of multiple random trees. In each of the subsequent frames, we conduct sparse dictionary coding on all candidates to select the best candidate as the new target location. In addition, we online update two dictionaries to handle appearance changes of target objects. Experimental results demonstrate that our feature learning algorithm can significantly improve tracking performance on benchmark datasets.