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This paper presents a data-driven, task-specific paradigm for experimental design, to shorten acquisition time, reduce costs, and accelerate the deployment of imaging devices. Current approaches in experimental design focus on model-parameter estimation and require specification of a particular model, whereas in imaging, other tasks may drive the design. Furthermore, such approaches often lead to intractable optimization problems in real-world imaging applications. Here we present a new paradigm for experimental design that simultaneously optimizes the design (set of image channels) and trains a machine-learning model to execute a user-specified image-analysis task. The approach obtains data densely-sampled over the measurement space (many image channels) for a small number of acquisitions, then identifies a subset of channels of prespecified size that best supports the task. We propose a method: TADRED for TAsk-DRiven Experimental Design in imaging, to identify the most informative channel-subset whilst simultaneously training a network to execute the task given the subset. Experiments demonstrate the potential of TADRED in diverse imaging applications: several clinically-relevant tasks in magnetic resonance imaging; and remote sensing and physiological applications of hyperspectral imaging. Results show substantial improvement over classical experimental design, two recent application-specific methods within the new paradigm, and state-of-the-art approaches in supervised feature selection. We anticipate further applications of our approach. Code is available: //github.com/sbb-gh/experimental-design-multichannel

Developing robust and interpretable vision systems is a crucial step towards trustworthy artificial intelligence. In this regard, a promising paradigm considers embedding task-required invariant structures, e.g., geometric invariance, in the fundamental image representation. However, such invariant representations typically exhibit limited discriminability, limiting their applications in larger-scale trustworthy vision tasks. For this open problem, we conduct a systematic investigation of hierarchical invariance, exploring this topic from theoretical, practical, and application perspectives. At the theoretical level, we show how to construct over-complete invariants with a Convolutional Neural Networks (CNN)-like hierarchical architecture yet in a fully interpretable manner. The general blueprint, specific definitions, invariant properties, and numerical implementations are provided. At the practical level, we discuss how to customize this theoretical framework into a given task. With the over-completeness, discriminative features w.r.t. the task can be adaptively formed in a Neural Architecture Search (NAS)-like manner. We demonstrate the above arguments with accuracy, invariance, and efficiency results on texture, digit, and parasite classification experiments. Furthermore, at the application level, our representations are explored in real-world forensics tasks on adversarial perturbations and Artificial Intelligence Generated Content (AIGC). Such applications reveal that the proposed strategy not only realizes the theoretically promised invariance, but also exhibits competitive discriminability even in the era of deep learning. For robust and interpretable vision tasks at larger scales, hierarchical invariant representation can be considered as an effective alternative to traditional CNN and invariants.

This paper addresses a new motion planning problem for mobile robots tasked with accomplishing multiple high-level sub-tasks, expressed using natural language (NL). These sub-tasks should be accomplished in a temporal and logical order. To formally define the overarching mission, we leverage Linear Temporal Logic (LTL) defined over atomic predicates modeling these NL-based sub-tasks. This is in contrast to related planning approaches that define LTL tasks over atomic predicates capturing desired low-level system configurations. Our goal is to design robot plans that satisfy LTL tasks defined over NL-based atomic propositions. A novel technical challenge arising in this setup lies in reasoning about correctness of a robot plan with respect to such LTL-encoded tasks. To address this problem, we propose HERACLEs, a hierarchical conformal natural language planner, that relies on (i) automata theory to determine what NL-specified sub-tasks should be accomplished next to make mission progress; (ii) Large Language Models to design robot plans satisfying these sub-tasks; and (iii) conformal prediction to reason probabilistically about correctness of the designed plans and to determine if external assistance is required. We provide theoretical probabilistic mission satisfaction guarantees as well as extensive comparative experiments on mobile manipulation tasks.

This paper provides an introduction to quantum machine learning, exploring the potential benefits of using quantum computing principles and algorithms that may improve upon classical machine learning approaches. Quantum computing utilizes particles governed by quantum mechanics for computational purposes, leveraging properties like superposition and entanglement for information representation and manipulation. Quantum machine learning applies these principles to enhance classical machine learning models, potentially reducing network size and training time on quantum hardware. The paper covers basic quantum mechanics principles, including superposition, phase space, and entanglement, and introduces the concept of quantum gates that exploit these properties. It also reviews classical deep learning concepts, such as artificial neural networks, gradient descent, and backpropagation, before delving into trainable quantum circuits as neural networks. An example problem demonstrates the potential advantages of quantum neural networks, and the appendices provide detailed derivations. The paper aims to help researchers new to quantum mechanics and machine learning develop their expertise more efficiently.

This paper describes the design of a miniature uncrewed underwater vehicle (MiniUUV) and related instrumentation for indoor experimentation. The MiniUUV was developed using 3D printed components and low-cost, off-the-shelf electronics. The vehicle uses a propeller differential propulsion drive and a peristaltic pump with a syringe for buoyancy control. A water tank with an overhead camera system was constructed to allow for convenient indoor data collection in a controlled environment. Several tests were conducted to demonstrate the capabilities of the MiniUUV and data collection system, including buoyancy pump actuation tests and straight line, circular, and zig-zag motion tests on the surface. During each planar motion test an AprilTag was attached to the MiniUUV and an overhead camera system obtained video recordings that were processed offline to estimate vehicle position, surge velocity, sway velocity, yaw angle, and yaw rate.

In surgical computer vision applications, obtaining labeled training data is challenging due to data-privacy concerns and the need for expert annotation. Unpaired image-to-image translation techniques have been explored to automatically generate large annotated datasets by translating synthetic images to the realistic domain. However, preserving the structure and semantic consistency between the input and translated images presents significant challenges, mainly when there is a distributional mismatch in the semantic characteristics of the domains. This study empirically investigates unpaired image translation methods for generating suitable data in surgical applications, explicitly focusing on semantic consistency. We extensively evaluate various state-of-the-art image translation models on two challenging surgical datasets and downstream semantic segmentation tasks. We find that a simple combination of structural-similarity loss and contrastive learning yields the most promising results. Quantitatively, we show that the data generated with this approach yields higher semantic consistency and can be used more effectively as training data.The code is available at //gitlab.com/nct_tso_public/constructs.

Matrix factorization (MF) is a simple collaborative filtering technique that achieves superior recommendation accuracy by decomposing the user-item interaction matrix into user and item latent matrices. Because the model typically learns each interaction independently, it may overlook the underlying shared dependencies between users and items, resulting in less stable and interpretable recommendations. Based on these insights, we propose "Hierarchical Matrix Factorization" (HMF), which incorporates clustering concepts to capture the hierarchy, where leaf nodes and other nodes correspond to users/items and clusters, respectively. Central to our approach, called hierarchical embeddings, is the additional decomposition of the latent matrices (embeddings) into probabilistic connection matrices, which link the hierarchy, and a root cluster latent matrix. The embeddings are differentiable, allowing simultaneous learning of interactions and clustering using a single gradient descent method. Furthermore, the obtained cluster-specific interactions naturally summarize user-item interactions and provide interpretability. Experimental results on ratings and ranking predictions show that HMF outperforms existing MF methods, in particular achieving a 1.37 point improvement in RMSE for sparse interactions. Additionally, it was confirmed that the clustering integration of HMF has the potential for faster learning convergence and mitigation of overfitting compared to MF, and also provides interpretability through a cluster-centered case study.

Multi-agent reinforcement learning (MARL) is well-suited for runtime decision-making in optimizing the performance of systems where multiple agents coexist and compete for shared resources. However, applying common deep learning-based MARL solutions to real-world problems suffers from issues of interpretability, sample efficiency, partial observability, etc. To address these challenges, we present an event-driven formulation, where decision-making is handled by distributed co-operative MARL agents using neuro-symbolic methods. The recently introduced neuro-symbolic Logical Neural Networks (LNN) framework serves as a function approximator for the RL, to train a rules-based policy that is both logical and interpretable by construction. To enable decision-making under uncertainty and partial observability, we developed a novel probabilistic neuro-symbolic framework, Probabilistic Logical Neural Networks (PLNN), which combines the capabilities of logical reasoning with probabilistic graphical models. In PLNN, the upward/downward inference strategy, inherited from LNN, is coupled with belief bounds by setting the activation function for the logical operator associated with each neural network node to a probability-respecting generalization of the Fr\'echet inequalities. These PLNN nodes form the unifying element that combines probabilistic logic and Bayes Nets, permitting inference for variables with unobserved states. We demonstrate our contributions by addressing key MARL challenges for power sharing in a system-on-chip application.

This paper aims at revisiting Graph Convolutional Neural Networks by bridging the gap between spectral and spatial design of graph convolutions. We theoretically demonstrate some equivalence of the graph convolution process regardless it is designed in the spatial or the spectral domain. The obtained general framework allows to lead a spectral analysis of the most popular ConvGNNs, explaining their performance and showing their limits. Moreover, the proposed framework is used to design new convolutions in spectral domain with a custom frequency profile while applying them in the spatial domain. We also propose a generalization of the depthwise separable convolution framework for graph convolutional networks, what allows to decrease the total number of trainable parameters by keeping the capacity of the model. To the best of our knowledge, such a framework has never been used in the GNNs literature. Our proposals are evaluated on both transductive and inductive graph learning problems. Obtained results show the relevance of the proposed method and provide one of the first experimental evidence of transferability of spectral filter coefficients from one graph to another. Our source codes are publicly available at: //github.com/balcilar/Spectral-Designed-Graph-Convolutions

This paper surveys the machine learning literature and presents machine learning as optimization models. Such models can benefit from the advancement of numerical optimization techniques which have already played a distinctive role in several machine learning settings. Particularly, mathematical optimization models are presented for commonly used machine learning approaches for regression, classification, clustering, and deep neural networks as well new emerging applications in machine teaching and empirical model learning. The strengths and the shortcomings of these models are discussed and potential research directions are highlighted.