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Moving object segmentation (MOS) and Ego velocity estimation (EVE) are vital capabilities for mobile systems to achieve full autonomy. Several approaches have attempted to achieve MOSEVE using a LiDAR sensor. However, LiDAR sensors are typically expensive and susceptible to adverse weather conditions. Instead, millimeter-wave radar (MWR) has gained popularity in robotics and autonomous driving for real applications due to its cost-effectiveness and resilience to bad weather. Nonetheless, publicly available MOSEVE datasets and approaches using radar data are limited. Some existing methods adopt point convolutional networks from LiDAR-based approaches, ignoring the specific artifacts and the valuable radial velocity information of radar measurements, leading to suboptimal performance. In this paper, we propose a novel transformer network that effectively addresses the sparsity and noise issues and leverages the radial velocity measurements of radar points using our devised radar self- and cross-attention mechanisms. Based on that, our method achieves accurate EVE of the robot and performs MOS using only radar data simultaneously. To thoroughly evaluate the MOSEVE performance of our method, we annotated the radar points in the public View-of-Delft (VoD) dataset and additionally constructed a new radar dataset in various environments. The experimental results demonstrate the superiority of our approach over existing state-of-the-art methods. The code is available at //github.com/ORCA-Uboat/RadarMOSEVE.

We introduce a novel Information Criterion (IC), termed Learning under Singularity (LS), designed to enhance the functionality of the Widely Applicable Bayes Information Criterion (WBIC) and the Singular Bayesian Information Criterion (sBIC). LS is effective without regularity constraints and demonstrates stability. Watanabe defined a statistical model or a learning machine as regular if the mapping from a parameter to a probability distribution is one-to-one and its Fisher information matrix is positive definite. In contrast, models not meeting these conditions are termed singular. Over the past decade, several information criteria for singular cases have been proposed, including WBIC and sBIC. WBIC is applicable in non-regular scenarios but faces challenges with large sample sizes and redundant estimation of known learning coefficients. Conversely, sBIC is limited in its broader application due to its dependence on maximum likelihood estimates. LS addresses these limitations by enhancing the utility of both WBIC and sBIC. It incorporates the empirical loss from the Widely Applicable Information Criterion (WAIC) to represent the goodness of fit to the statistical model, along with a penalty term similar to that of sBIC. This approach offers a flexible and robust method for model selection, free from regularity constraints.

Recent advances in AI combine large language models (LLMs) with vision encoders that bring forward unprecedented technical capabilities to leverage for a wide range of healthcare applications. Focusing on the domain of radiology, vision-language models (VLMs) achieve good performance results for tasks such as generating radiology findings based on a patient's medical image, or answering visual questions (e.g., 'Where are the nodules in this chest X-ray?'). However, the clinical utility of potential applications of these capabilities is currently underexplored. We engaged in an iterative, multidisciplinary design process to envision clinically relevant VLM interactions, and co-designed four VLM use concepts: Draft Report Generation, Augmented Report Review, Visual Search and Querying, and Patient Imaging History Highlights. We studied these concepts with 13 radiologists and clinicians who assessed the VLM concepts as valuable, yet articulated many design considerations. Reflecting on our findings, we discuss implications for integrating VLM capabilities in radiology, and for healthcare AI more generally.

Hierarchical reinforcement learning (HRL) provides a promising solution for complex tasks with sparse rewards of intelligent agents, which uses a hierarchical framework that divides tasks into subgoals and completes them sequentially. However, current methods struggle to find suitable subgoals for ensuring a stable learning process. Without additional guidance, it is impractical to rely solely on exploration or heuristics methods to determine subgoals in a large goal space. To address the issue, We propose a general hierarchical reinforcement learning framework incorporating human feedback and dynamic distance constraints (MENTOR). MENTOR acts as a "mentor", incorporating human feedback into high-level policy learning, to find better subgoals. As for low-level policy, MENTOR designs a dual policy for exploration-exploitation decoupling respectively to stabilize the training. Furthermore, although humans can simply break down tasks into subgoals to guide the right learning direction, subgoals that are too difficult or too easy can still hinder downstream learning efficiency. We propose the Dynamic Distance Constraint (DDC) mechanism dynamically adjusting the space of optional subgoals. Thus MENTOR can generate subgoals matching the low-level policy learning process from easy to hard. Extensive experiments demonstrate that MENTOR uses a small amount of human feedback to achieve significant improvement in complex tasks with sparse rewards.

This paper analyzes a popular computational framework to solve infinite-dimensional Bayesian inverse problems, discretizing the prior and the forward model in a finite-dimensional weighted inner product space. We demonstrate the benefit of working on a weighted space by establishing operator-norm bounds for finite element and graph-based discretizations of Mat\'ern-type priors and deconvolution forward models. For linear-Gaussian inverse problems, we develop a general theory to characterize the error in the approximation to the posterior. We also embed the computational framework into ensemble Kalman methods and MAP estimators for nonlinear inverse problems. Our operator-norm bounds for prior discretizations guarantee the scalability and accuracy of these algorithms under mesh refinement.

We introduce the first probabilistic framework tailored for sequential random projection, an approach rooted in the challenges of sequential decision-making under uncertainty. The analysis is complicated by the sequential dependence and high-dimensional nature of random variables, a byproduct of the adaptive mechanisms inherent in sequential decision processes. Our work features a novel construction of a stopped process, facilitating the analysis of a sequence of concentration events that are interconnected in a sequential manner. By employing the method of mixtures within a self-normalized process, derived from the stopped process, we achieve a desired non-asymptotic probability bound. This bound represents a non-trivial martingale extension of the Johnson-Lindenstrauss (JL) lemma, marking a pioneering contribution to the literature on random projection and sequential analysis.

Existing recommender systems extract the user preference based on learning the correlation in data, such as behavioral correlation in collaborative filtering, feature-feature, or feature-behavior correlation in click-through rate prediction. However, regretfully, the real world is driven by causality rather than correlation, and correlation does not imply causation. For example, the recommender systems can recommend a battery charger to a user after buying a phone, in which the latter can serve as the cause of the former, and such a causal relation cannot be reversed. Recently, to address it, researchers in recommender systems have begun to utilize causal inference to extract causality, enhancing the recommender system. In this survey, we comprehensively review the literature on causal inference-based recommendation. At first, we present the fundamental concepts of both recommendation and causal inference as the basis of later content. We raise the typical issues that the non-causality recommendation is faced. Afterward, we comprehensively review the existing work of causal inference-based recommendation, based on a taxonomy of what kind of problem causal inference addresses. Last, we discuss the open problems in this important research area, along with interesting future works.

We introduce a multi-task setup of identifying and classifying entities, relations, and coreference clusters in scientific articles. We create SciERC, a dataset that includes annotations for all three tasks and develop a unified framework called Scientific Information Extractor (SciIE) for with shared span representations. The multi-task setup reduces cascading errors between tasks and leverages cross-sentence relations through coreference links. Experiments show that our multi-task model outperforms previous models in scientific information extraction without using any domain-specific features. We further show that the framework supports construction of a scientific knowledge graph, which we use to analyze information in scientific literature.

In order to answer natural language questions over knowledge graphs, most processing pipelines involve entity and relation linking. Traditionally, entity linking and relation linking has been performed either as dependent sequential tasks or independent parallel tasks. In this paper, we propose a framework called "EARL", which performs entity linking and relation linking as a joint single task. EARL uses a graph connection based solution to the problem. We model the linking task as an instance of the Generalised Travelling Salesman Problem (GTSP) and use GTSP approximate algorithm solutions. We later develop EARL which uses a pair-wise graph-distance based solution to the problem.The system determines the best semantic connection between all keywords of the question by referring to a knowledge graph. This is achieved by exploiting the "connection density" between entity candidates and relation candidates. The "connection density" based solution performs at par with the approximate GTSP solution.We have empirically evaluated the framework on a dataset with 5000 questions. Our system surpasses state-of-the-art scores for entity linking task by reporting an accuracy of 0.65 to 0.40 from the next best entity linker.

In this paper, we propose the joint learning attention and recurrent neural network (RNN) models for multi-label classification. While approaches based on the use of either model exist (e.g., for the task of image captioning), training such existing network architectures typically require pre-defined label sequences. For multi-label classification, it would be desirable to have a robust inference process, so that the prediction error would not propagate and thus affect the performance. Our proposed model uniquely integrates attention and Long Short Term Memory (LSTM) models, which not only addresses the above problem but also allows one to identify visual objects of interests with varying sizes without the prior knowledge of particular label ordering. More importantly, label co-occurrence information can be jointly exploited by our LSTM model. Finally, by advancing the technique of beam search, prediction of multiple labels can be efficiently achieved by our proposed network model.