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In this study, we present an implementation strategy for a robot that performs peg transfer tasks in Fundamentals of Laparoscopic Surgery (FLS) via imitation learning, aimed at the development of an autonomous robot for laparoscopic surgery. Robotic laparoscopic surgery presents two main challenges: (1) the need to manipulate forceps using ports established on the body surface as fulcrums, and (2) difficulty in perceiving depth information when working with a monocular camera that displays its images on a monitor. Especially, regarding issue (2), most prior research has assumed the availability of depth images or models of a target to be operated on. Therefore, in this study, we achieve more accurate imitation learning with only monocular images by extracting motion constraints from one exemplary motion of skilled operators, collecting data based on these constraints, and conducting imitation learning based on the collected data. We implemented an overall system using two Franka Emika Panda Robot Arms and validated its effectiveness.

In this paper, we study the partial multi-label (PML) image classification problem, where each image is annotated with a candidate label set consists of multiple relevant labels and other noisy labels. Existing PML methods typically design a disambiguation strategy to filter out noisy labels by utilizing prior knowledge with extra assumptions, which unfortunately is unavailable in many real tasks. Furthermore, because the objective function for disambiguation is usually elaborately designed on the whole training set, it can be hardly optimized in a deep model with SGD on mini-batches. In this paper, for the first time we propose a deep model for PML to enhance the representation and discrimination ability. On one hand, we propose a novel curriculum based disambiguation strategy to progressively identify ground-truth labels by incorporating the varied difficulties of different classes. On the other hand, a consistency regularization is introduced for model retraining to balance fitting identified easy labels and exploiting potential relevant labels. Extensive experimental results on the commonly used benchmark datasets show the proposed method significantly outperforms the SOTA methods.

In this paper, we investigate unsourced random access for massive machine-type communications (mMTC) in the sixth-generation (6G) wireless networks. Firstly, we establish a high-efficiency uncoupled framework for massive unsourced random access without extra parity check bits. Then, we design a low-complexity Bayesian joint decoding algorithm, including codeword detection and stitching. In particular, we present a Bayesian codeword detection approach by exploiting Bayes-optimal divergence-free orthogonal approximate message passing in the case of unknown priors. The output long-term channel statistic information is well leveraged to stitch codewords for recovering the original message. Thus, the spectral efficiency is improved by avoiding the use of parity bits. Moreover, we analyze the performance of the proposed Bayesian joint decoding-based massive uncoupled unsourced random access scheme in terms of computational complexity and error probability of decoding. Furthermore, by asymptotic analysis, we obtain some useful insights for the design of massive unsourced random access. Finally, extensive simulation results confirm the effectiveness of the proposed scheme in 6G wireless networks.

In this paper, we study a remote monitoring system where a receiver observes a remote binary Markov source and decides whether to sample and fetch the source's state over a randomly delayed channel. Due to transmission delay, the observation of the source is imperfect, resulting in the uncertainty of the source's state at the receiver. We thus use uncertainty of information as the metric to characterize the performance of the system. Measured by Shannon's entropy, uncertainty of information reflects how much we do not know about the latest source's state in the absence of new information. The current research for uncertainty of information idealizes the transmission delay as one time slot, but not under random delay. Moreover, uncertainty of information varies with the latest observation of the source's state, making it different from other age of information related functions. Motivated by the above reasons, we formulate a uncertainty of information minimization problem under random delay. Typically, such a problem which takes actions based on the imperfect observations can be modeled as a partially observed Markov decision process. By introducing belief state, we transform this process into a semi-Markov decision process. To solve this problem, we first provide an optimal sampling policy employing a two layered bisection relative value iteration algorithm. Furthermore, we propose a sub-optimal index policy with low complexity based on the special properties of belief state. Numerical simulations illustrate that both of the proposed sampling policies outperforms two other benchmarks. Moreover, the performance of the sub-optimal policy approaches to that of the optimal policy, particularly under large delay.

By concatenating a polar transform with a convolutional transform, polarization-adjusted convolutional (PAC) codes can reach the dispersion approximation bound in certain rate cases. However, the sequential decoding nature of traditional PAC decoding algorithms results in high decoding latency. Due to the parallel computing capability, deep neural network (DNN) decoders have emerged as a promising solution. In this paper, we propose three types of DNN decoders for PAC codes: multi-layer perceptron (MLP), convolutional neural network (CNN), and recurrent neural network (RNN). The performance of these DNN decoders is evaluated through extensive simulation. Numerical results show that the MLP decoder has the best error-correction performance under a similar model parameter number.

Counterfactual explanations provide a popular method for analyzing the predictions of black-box systems, and they can offer the opportunity for computational recourse by suggesting actionable changes on how to change the input to obtain a different (i.e. more favorable) system output. However, recent work highlighted their vulnerability to different types of manipulations. This work studies the vulnerability of counterfactual explanations to data poisoning. We formalize data poisoning in the context of counterfactual explanations for increasing the cost of recourse on three different levels: locally for a single instance, or a sub-group of instances, or globally for all instances. We demonstrate that state-of-the-art counterfactual generation methods \& toolboxes are vulnerable to such data poisoning.

This paper presents a novel mathematical framework based on stochastic geometry to investigate the electromagnetic field exposure of idle and active users in cellular networks implementing dynamic beamforming. Accurate modeling of antenna gain becomes crucial in this context, encompassing both the main and the side lobes. The marginal distribution of EMF exposure for each type of users is initially derived. Subsequently, network performance is scrutinized by introducing a new metric aimed at ensuring minimal downlink coverage while simultaneously maintaining EMF exposure below distinct thresholds for both idle and active users. The metrics exhibit a high dependency on various parameters, such as the distance between active and idle users and the number of antenna elements.

Reconfigurable holographic surfaces (RHSs) constitute a promising technique of supporting energy-efficient communications. In this paper, we formulate the energy efficiency maximization problem of the switch-controlled RHS-aided beamforming architecture by alternately optimizing the holographic beamformer at the RHS, the digital beamformer, the total transmit power and the power sharing ratio of each user. Specifically, to deal with this challenging non-convex optimization problem, we decouple it into three sub-problems. Firstly, the coefficients of RHS elements responsible for the holographic beamformer are optimized to maximize the sum of the eigen-channel gains of all users by our proposed low-complexity eigen-decomposition (ED) method. Then, the digital beamformer is designed by the singular value decomposition (SVD) method to support multi-user information transfer. Finally, the total transmit power and the power sharing ratio are alternately optimized, while considering the effect of transceiver hardware impairments (HWI). We theoretically derive the spectral efficiency and energy efficiency performance upper bound for the RHS-based beamforming architectures in the presence of HWIs. Our simulation results show that the switch-controlled RHS-aided beamforming architecture achieves higher energy efficiency than the conventional fully digital beamformer and the hybrid beamformer based on phase shift arrays (PSA). Moreover, considering the effect of HWI in the beamforming design can bring about further energy efficiency enhancements.

In this work, we discuss a general class of the estimators for the cumulative distribution function (CDF) based on judgment post stratification (JPS) sampling scheme which includes both empirical and kernel distribution functions. Specifically, we obtain the expectation of the estimators in this class and show that they are asymptotically more efficient than their competitors in simple random sampling (SRS), as long as the rankings are better than random guessing. We find a mild condition that is necessary and sufficient for them to be asymptotically unbiased. We also prove that given the same condition, the estimators in this class are strongly uniformly consistent estimators of the true CDF, and converge in distribution to a normal distribution when the sample size goes to infinity. We then focus on the kernel distribution function (KDF) in the JPS design and obtain the optimal bandwidth. We next carry out a comprehensive Monte Carlo simulation to compare the performance of the KDF in the JPS design for different choices of sample size, set size, ranking quality, parent distribution, kernel function as well as both perfect and imperfect rankings set-ups with its counterpart in SRS design. It is found that the JPS estimator dramatically improves the efficiency of the KDF as compared to its SRS competitor for a wide range of the settings. Finally, we apply the described procedure on a real dataset from medical context to show their usefulness and applicability in practice.

Over the past few years, we have seen fundamental breakthroughs in core problems in machine learning, largely driven by advances in deep neural networks. At the same time, the amount of data collected in a wide array of scientific domains is dramatically increasing in both size and complexity. Taken together, this suggests many exciting opportunities for deep learning applications in scientific settings. But a significant challenge to this is simply knowing where to start. The sheer breadth and diversity of different deep learning techniques makes it difficult to determine what scientific problems might be most amenable to these methods, or which specific combination of methods might offer the most promising first approach. In this survey, we focus on addressing this central issue, providing an overview of many widely used deep learning models, spanning visual, sequential and graph structured data, associated tasks and different training methods, along with techniques to use deep learning with less data and better interpret these complex models --- two central considerations for many scientific use cases. We also include overviews of the full design process, implementation tips, and links to a plethora of tutorials, research summaries and open-sourced deep learning pipelines and pretrained models, developed by the community. We hope that this survey will help accelerate the use of deep learning across different scientific domains.