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In robotics, contemporary strategies are learning-based, characterized by a complex black-box nature and a lack of interpretability, which may pose challenges in ensuring stability and safety. To address these issues, we propose integrating an obstacle-free deep reinforcement learning (DRL) trajectory planner with a novel auto-tuning low- and joint-level control strategy, all while actively engaging in the learning phase through interactions with the environment. This approach circumvents the complexities associated with computations while also addressing nonrepetitive and random obstacle avoidance tasks. First, a model-free DRL agent to plan velocity-bounded and obstacle-free motion is employed for a manipulator with 'n' degrees of freedom (DoF) in task space through joint-level reasoning. This plan is then input into a robust subsystem-based adaptive controller, which produces the necessary torques, while the Cuckoo Search Optimization (CSO) algorithm enhances control gains to minimize the time required to reach, time taken to stabilize, the maximum deviation from the desired value, and persistent tracking error in the steady state. This approach guarantees that position and velocity errors exponentially converge to zero in an unfamiliar environment, despite unknown robotic manipulator modeling. Theoretical assertions are validated through the presentation of simulation outcomes.

Several photonic microring resonators (MRRs) based analog accelerators have been proposed to accelerate the inference of integer-quantized CNNs with remarkably higher throughput and energy efficiency compared to their electronic counterparts. However, the existing analog photonic accelerators suffer from three shortcomings: (i) severe hampering of wavelength parallelism due to various crosstalk effects, (ii) inflexibility of supporting various dataflows other than the weight-stationary dataflow, and (iii) failure in fully leveraging the ability of photodetectors to perform in-situ accumulations. These shortcomings collectively hamper the performance and energy efficiency of prior accelerators. To tackle these shortcomings, we present a novel Hybrid timE Amplitude aNalog optical Accelerator, called HEANA. HEANA employs hybrid time-amplitude analog optical multipliers (TAOMs) that increase the flexibility of HEANA to support multiple dataflows. A spectrally hitless arrangement of TAOMs significantly reduces the crosstalk effects, thereby increasing the wavelength parallelism in HEANA. Moreover, HEANA employs our invented balanced photo-charge accumulators (BPCAs) that enable buffer-less, in-situ, temporal accumulations to eliminate the need to use reduction networks in HEANA, relieving it from related latency and energy overheads. Our evaluation for the inference of four modern CNNs indicates that HEANA provides improvements of atleast 66x and 84x in frames-per-second (FPS) and FPS/W (energy-efficiency), respectively, for equal-area comparisons, on gmean over two MRR-based analog CNN accelerators from prior work.

Deep neural networks (DNNs) have demonstrated remarkable performance across various tasks, including image and speech recognition. However, maximizing the effectiveness of DNNs requires meticulous optimization of numerous hyperparameters and network parameters through training. Moreover, high-performance DNNs entail many parameters, which consume significant energy during training. In order to overcome these challenges, researchers have turned to spiking neural networks (SNNs), which offer enhanced energy efficiency and biologically plausible data processing capabilities, rendering them highly suitable for sensory data tasks, particularly in neuromorphic data. Despite their advantages, SNNs, like DNNs, are susceptible to various threats, including adversarial examples and backdoor attacks. Yet, the field of SNNs still needs to be explored in terms of understanding and countering these attacks. This paper delves into backdoor attacks in SNNs using neuromorphic datasets and diverse triggers. Specifically, we explore backdoor triggers within neuromorphic data that can manipulate their position and color, providing a broader scope of possibilities than conventional triggers in domains like images. We present various attack strategies, achieving an attack success rate of up to 100% while maintaining a negligible impact on clean accuracy. Furthermore, we assess these attacks' stealthiness, revealing that our most potent attacks possess significant stealth capabilities. Lastly, we adapt several state-of-the-art defenses from the image domain, evaluating their efficacy on neuromorphic data and uncovering instances where they fall short, leading to compromised performance.

Dimensionality reduction methods, such as principal component analysis (PCA) and factor analysis, are central to many problems in data science. There are, however, serious and well-understood challenges to finding robust low dimensional approximations for data with significant heteroskedastic noise. This paper introduces a relaxed version of Minimum Trace Factor Analysis (MTFA), a convex optimization method with roots dating back to the work of Ledermann in 1940. This relaxation is particularly effective at not overfitting to heteroskedastic perturbations and addresses the commonly cited Heywood cases in factor analysis and the recently identified "curse of ill-conditioning" for existing spectral methods. We provide theoretical guarantees on the accuracy of the resulting low rank subspace and the convergence rate of the proposed algorithm to compute that matrix. We develop a number of interesting connections to existing methods, including HeteroPCA, Lasso, and Soft-Impute, to fill an important gap in the already large literature on low rank matrix estimation. Numerical experiments benchmark our results against several recent proposals for dealing with heteroskedastic noise.

In molecular dynamics (MD) simulations, rare events, such as protein folding, are typically studied by means of enhanced sampling techniques, most of which rely on the definition of a collective variable (CV) along which the acceleration occurs. Obtaining an expressive CV is crucial, but often hindered by the lack of information about the particular event, e.g., the transition from unfolded to folded conformation. We propose a simulation-free data augmentation strategy using physics-inspired metrics to generate geodesic interpolations resembling protein folding transitions, thereby improving sampling efficiency without true transition state samples. Leveraging interpolation progress parameters, we introduce a regression-based learning scheme for CV models, which outperforms classifier-based methods when transition state data is limited and noisy

Untargeted metabolomics based on liquid chromatography-mass spectrometry technology is quickly gaining widespread application given its ability to depict the global metabolic pattern in biological samples. However, the data is noisy and plagued by the lack of clear identity of data features measured from samples. Multiple potential matchings exist between data features and known metabolites, while the truth can only be one-to-one matches. Some existing methods attempt to reduce the matching uncertainty, but are far from being able to remove the uncertainty for most features. The existence of the uncertainty causes major difficulty in downstream functional analysis. To address these issues, we develop a novel approach for Bayesian Analysis of Untargeted Metabolomics data (BAUM) to integrate previously separate tasks into a single framework, including matching uncertainty inference, metabolite selection, and functional analysis. By incorporating the knowledge graph between variables and using relatively simple assumptions, BAUM can analyze datasets with small sample sizes. By allowing different confidence levels of feature-metabolite matching, the method is applicable to datasets in which feature identities are partially known. Simulation studies demonstrate that, compared with other existing methods, BAUM achieves better accuracy in selecting important metabolites that tend to be functionally consistent and assigning confidence scores to feature-metabolite matches. We analyze a COVID-19 metabolomics dataset and a mouse brain metabolomics dataset using BAUM. Even with a very small sample size of 16 mice per group, BAUM is robust and stable. It finds pathways that conform to existing knowledge, as well as novel pathways that are biologically plausible.

The hybridisation of robot-assisted gait training and functional electrical stimulation (FES) can provide numerous physiological benefits to neurological patients. However, the design of an effective hybrid controller poses significant challenges. In this over-actuated system, it is extremely difficult to find the right balance between robotic assistance and FES that will provide personalised assistance, prevent muscle fatigue and encourage the patient's active participation in order to accelerate recovery. In this paper, we present an adaptive hybrid robot-FES controller to do this and enable the triadic collaboration between the patient, the robot and FES. A patient-driven controller is designed where the voluntary movement of the patient is prioritised and assistance is provided using FES and the robot in a hierarchical order depending on the patient's performance and their muscles' fitness. The performance of this hybrid adaptive controller is tested in simulation and on one healthy subject. Our results indicate an increase in tracking performance with lower overall assistance, and less muscle fatigue when the hybrid adaptive controller is used, compared to its non adaptive equivalent. This suggests that our hybrid adaptive controller may be able to adapt to the behaviour of the user to provide assistance as needed and prevent the early termination of physical therapy due to muscle fatigue.

Neural Style Transfer (NST) refers to a class of algorithms able to manipulate an element, most often images, to adopt the appearance or style of another one. Each element is defined as a combination of Content and Style: the Content can be conceptually defined as the what and the Style as the how of said element. In this context, we propose a custom NST framework for transferring a set of styles to the motion of a robotic manipulator, e.g., the same robotic task can be carried out in an angry, happy, calm, or sad way. An autoencoder architecture extracts and defines the Content and the Style of the target robot motions. A Twin Delayed Deep Deterministic Policy Gradient (TD3) network generates the robot control policy using the loss defined by the autoencoder. The proposed Neural Policy Style Transfer TD3 (NPST3) alters the robot motion by introducing the trained style. Such an approach can be implemented either offline, for carrying out autonomous robot motions in dynamic environments, or online, for adapting at runtime the style of a teleoperated robot. The considered styles can be learned online from human demonstrations. We carried out an evaluation with human subjects enrolling 73 volunteers, asking them to recognize the style behind some representative robotic motions. Results show a good recognition rate, proving that it is possible to convey different styles to a robot using this approach.

Named entity recognition (NER) is the task to identify text spans that mention named entities, and to classify them into predefined categories such as person, location, organization etc. NER serves as the basis for a variety of natural language applications such as question answering, text summarization, and machine translation. Although early NER systems are successful in producing decent recognition accuracy, they often require much human effort in carefully designing rules or features. In recent years, deep learning, empowered by continuous real-valued vector representations and semantic composition through nonlinear processing, has been employed in NER systems, yielding stat-of-the-art performance. In this paper, we provide a comprehensive review on existing deep learning techniques for NER. We first introduce NER resources, including tagged NER corpora and off-the-shelf NER tools. Then, we systematically categorize existing works based on a taxonomy along three axes: distributed representations for input, context encoder, and tag decoder. Next, we survey the most representative methods for recent applied techniques of deep learning in new NER problem settings and applications. Finally, we present readers with the challenges faced by NER systems and outline future directions in this area.

Visual Question Answering (VQA) models have struggled with counting objects in natural images so far. We identify a fundamental problem due to soft attention in these models as a cause. To circumvent this problem, we propose a neural network component that allows robust counting from object proposals. Experiments on a toy task show the effectiveness of this component and we obtain state-of-the-art accuracy on the number category of the VQA v2 dataset without negatively affecting other categories, even outperforming ensemble models with our single model. On a difficult balanced pair metric, the component gives a substantial improvement in counting over a strong baseline by 6.6%.