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Navigation is one of the most heavily studied problems in robotics, and is conventionally approached as a geometric mapping and planning problem. However, real-world navigation presents a complex set of physical challenges that defies simple geometric abstractions. Machine learning offers a promising way to go beyond geometry and conventional planning, allowing for navigational systems that make decisions based on actual prior experience. Such systems can reason about traversability in ways that go beyond geometry, accounting for the physical outcomes of their actions and exploiting patterns in real-world environments. They can also improve as more data is collected, potentially providing a powerful network effect. In this article, we present a general toolkit for experiential learning of robotic navigation skills that unifies several recent approaches, describe the underlying design principles, summarize experimental results from several of our recent papers, and discuss open problems and directions for future work.

We introduce the XPER (eXplainable PERformance) methodology to measure the specific contribution of the input features to the predictive or economic performance of a model. Our methodology offers several advantages. First, it is both model-agnostic and performance metric-agnostic. Second, XPER is theoretically founded as it is based on Shapley values. Third, the interpretation of the benchmark, which is inherent in any Shapley value decomposition, is meaningful in our context. Fourth, XPER is not plagued by model specification error, as it does not require re-estimating the model. Fifth, it can be implemented either at the model level or at the individual level. In an application based on auto loans, we find that performance can be explained by a surprisingly small number of features. XPER decompositions are rather stable across metrics, yet some feature contributions switch sign across metrics. Our analysis also shows that explaining model forecasts and model performance are two distinct tasks.

The Internet of Medical Things (IoMT) allows the collection of physiological data using sensors, then their transmission to remote servers, permitting physicians and health professionals to analyze these data continuously and permanently. However, on the one hand, this technology faces security risks ranging from violating patient's privacy to their death due to wireless communication exposing these data to interception attacks. Moreover, these data are of particular interest to attackers due to their sensitive and private nature. On the other hand, adopting traditional security, such as cryptography on medical equipment suffering from low computing, storage and energy capacity with heterogeneous communication, represents a challenge. Moreover, these protection methods are ineffective against new attacks and zero-day attacks. Security measures must be adopted to guarantee the integrity, confidentiality and availability of data during collection, transmission, storage and processing. In this context, using Intrusion Detection Systems (IDS) based on Machine Learning (ML) can bring a complementary security solution adapted to the characteristics of IoMT systems. This paper performs a comprehensive survey on how IDS based on ML addresses security and privacy issues in IoMT systems. For this purpose, the generic three layers architecture of IoMT and the security requirement of IoMT systems are provided. Then, the various threats that can affect IoMT security and the advantages, disadvantages, methods, and datasets used in each solution based on ML are identified at the three layers composing IoMT. Finally, some challenges and limitations of applying IDS based on ML at each layer of IoMT are discussed, which can serve as a future research direction.

Although a recent shift has been made in the field of predictive process monitoring to use models from the explainable artificial intelligence field, the evaluation still occurs mainly through performance-based metrics, thus not accounting for the actionability and implications of the explanations. In this paper, we define explainability through the interpretability of the explanations and the faithfulness of the explainability model in the field of process outcome prediction. The introduced properties are analysed along the event, case, and control flow perspective which are typical for a process-based analysis. This allows comparing inherently created explanations with post-hoc explanations. We benchmark seven classifiers on thirteen real-life events logs, and these cover a range of transparent and non-transparent machine learning and deep learning models, further complemented with explainability techniques. Next, this paper contributes a set of guidelines named X-MOP which allows selecting the appropriate model based on the event log specifications, by providing insight into how the varying preprocessing, model complexity and explainability techniques typical in process outcome prediction influence the explainability of the model.

Artificial intelligence is not only increasingly used in business and administration contexts, but a race for its regulation is also underway, with the EU spearheading the efforts. Contrary to existing literature, this article suggests, however, that the most far-reaching and effective EU rules for AI applications in the digital economy will not be contained in the proposed AI Act - but have just been enacted in the Digital Markets Act. We analyze the impact of the DMA and related EU acts on AI models and their underlying data across four key areas: disclosure requirements; the regulation of AI training data; access rules; and the regime for fair rankings. The paper demonstrates that fairness, in the sense of the DMA, goes beyond traditionally protected categories of non-discrimination law on which scholarship at the intersection of AI and law has so far largely focused on. Rather, we draw on competition law and the FRAND criteria known from intellectual property law to interpret and refine the DMA provisions on fair rankings. Moreover, we show how, based on CJEU jurisprudence, a coherent interpretation of the concept of non-discrimination in both traditional non-discrimination and competition law may be found. The final part sketches specific proposals for a comprehensive framework of transparency, access, and fairness under the DMA and beyond.

Ransomware has emerged as one of the major global threats in recent days. The alarming increasing rate of ransomware attacks and new ransomware variants intrigue the researchers in this domain to constantly examine the distinguishing traits of ransomware and refine their detection or classification strategies. Among the broad range of different behavioral characteristics, the trait of Application Programming Interface (API) calls and network behaviors have been widely utilized as differentiating factors for ransomware detection, or classification. Although many of the prior approaches have shown promising results in detecting and classifying ransomware families utilizing these features without applying any feature selection techniques, feature selection, however, is one of the potential steps toward an efficient detection or classification Machine Learning model because it reduces the probability of overfitting by removing redundant data, improves the model's accuracy by eliminating irrelevant features, and therefore reduces training time. There have been a good number of feature selection techniques to date that are being used in different security scenarios to optimize the performance of the Machine Learning models. Hence, the aim of this study is to present the comparative performance analysis of widely utilized Supervised Machine Learning models with and without RFECV feature selection technique towards ransomware classification utilizing the API call and network traffic features. Thereby, this study provides insight into the efficiency of the RFECV feature selection technique in the case of ransomware classification which can be used by peers as a reference for future work in choosing the feature selection technique in this domain.

Decision-making algorithms are being used in important decisions, such as who should be enrolled in health care programs and be hired. Even though these systems are currently deployed in high-stakes scenarios, many of them cannot explain their decisions. This limitation has prompted the Explainable Artificial Intelligence (XAI) initiative, which aims to make algorithms explainable to comply with legal requirements, promote trust, and maintain accountability. This paper questions whether and to what extent explainability can help solve the responsibility issues posed by autonomous AI systems. We suggest that XAI systems that provide post-hoc explanations could be seen as blameworthy agents, obscuring the responsibility of developers in the decision-making process. Furthermore, we argue that XAI could result in incorrect attributions of responsibility to vulnerable stakeholders, such as those who are subjected to algorithmic decisions (i.e., patients), due to a misguided perception that they have control over explainable algorithms. This conflict between explainability and accountability can be exacerbated if designers choose to use algorithms and patients as moral and legal scapegoats. We conclude with a set of recommendations for how to approach this tension in the socio-technical process of algorithmic decision-making and a defense of hard regulation to prevent designers from escaping responsibility.

This paper focuses on the expected difference in borrower's repayment when there is a change in the lender's credit decisions. Classical estimators overlook the confounding effects and hence the estimation error can be magnificent. As such, we propose another approach to construct the estimators such that the error can be greatly reduced. The proposed estimators are shown to be unbiased, consistent, and robust through a combination of theoretical analysis and numerical testing. Moreover, we compare the power of estimating the causal quantities between the classical estimators and the proposed estimators. The comparison is tested across a wide range of models, including linear regression models, tree-based models, and neural network-based models, under different simulated datasets that exhibit different levels of causality, different degrees of nonlinearity, and different distributional properties. Most importantly, we apply our approaches to a large observational dataset provided by a global technology firm that operates in both the e-commerce and the lending business. We find that the relative reduction of estimation error is strikingly substantial if the causal effects are accounted for correctly.

Predictions obtained by, e.g., artificial neural networks have a high accuracy but humans often perceive the models as black boxes. Insights about the decision making are mostly opaque for humans. Particularly understanding the decision making in highly sensitive areas such as healthcare or fifinance, is of paramount importance. The decision-making behind the black boxes requires it to be more transparent, accountable, and understandable for humans. This survey paper provides essential definitions, an overview of the different principles and methodologies of explainable Supervised Machine Learning (SML). We conduct a state-of-the-art survey that reviews past and recent explainable SML approaches and classifies them according to the introduced definitions. Finally, we illustrate principles by means of an explanatory case study and discuss important future directions.