This note briefly introduces the computed torque control method for trajectory tracking. The method is applicable to fully actuated robots, i.e, those whose inverse dynamics can be solved for any feasible acceleration. This includes many systems, like robot arms or hands, or any tree-like mechanism with all its joints actuated. Using simple explanations, we see how such a controller can be obtained using feedback linearization, and how its gains can be tuned to satisfy a desired settling time for the error signal. We end up discussing the advantages and shortcomings of the controller. A companion Matlab script can be downloaded from https://bit.ly/3QShxYi

Counterfactual explanations are increasingly used as an Explainable Artificial Intelligence (XAI) technique to provide stakeholders of complex machine learning algorithms with explanations for data-driven decisions. The popularity of counterfactual explanations resulted in a boom in the algorithms generating them. However, not every algorithm creates uniform explanations for the same instance. Even though in some contexts multiple possible explanations are beneficial, there are circumstances where diversity amongst counterfactual explanations results in a potential disagreement problem among stakeholders. Ethical issues arise when for example, malicious agents use this diversity to fairwash an unfair machine learning model by hiding sensitive features. As legislators worldwide tend to start including the right to explanations for data-driven, high-stakes decisions in their policies, these ethical issues should be understood and addressed. Our literature review on the disagreement problem in XAI reveals that this problem has never been empirically assessed for counterfactual explanations. Therefore, in this work, we conduct a large-scale empirical analysis, on 40 datasets, using 12 explanation-generating methods, for two black-box models, yielding over 192.0000 explanations. Our study finds alarmingly high disagreement levels between the methods tested. A malicious user is able to both exclude and include desired features when multiple counterfactual explanations are available. This disagreement seems to be driven mainly by the dataset characteristics and the type of counterfactual algorithm. XAI centers on the transparency of algorithmic decision-making, but our analysis advocates for transparency about this self-proclaimed transparency

How might we use cognitive modeling to consider the ways in which antiblackness, and racism more broadly, impact the design and development of AI systems? We provide a discussion and an example towards an answer to this question. We use the ACT-R/{\Phi} cognitive architecture and an existing knowledge graph system, ConceptNet, to consider this question not only from a cognitive and sociocultural perspective, but also from a physiological perspective. In addition to using a cognitive modeling as a means to explore how antiblackness may manifest in the design and development of AI systems (particularly from a software engineering perspective), we also introduce connections between antiblackness, the Human, and computational cognitive modeling. We argue that the typical eschewing of sociocultural processes and knowledge structures in cognitive architectures and cognitive modeling implicitly furthers a colorblind approach to cognitive modeling and hides sociocultural context that is always present in human behavior and affects cognitive processes.

Huge challenges exist for old landslide detection because their morphology features have been partially or strongly transformed over a long time and have little difference from their surrounding. Besides, small-sample problem also restrict in-depth learning. In this paper, an iterative classification and semantic segmentation network (ICSSN) is developed, which can greatly enhance both object-level and pixel-level classification performance by iteratively upgrading the feature extractor shared by two network. An object-level contrastive learning (OCL) strategy is employed in the object classification sub-network featuring a siamese network to realize the global features extraction, and a sub-object-level contrastive learning (SOCL) paradigm is designed in the semantic segmentation sub-network to efficiently extract salient features from boundaries of landslides. Moreover, an iterative training strategy is elaborated to fuse features in semantic space such that both object-level and pixel-level classification performance are improved. The proposed ICSSN is evaluated on the real landslide data set, and the experimental results show that ICSSN can greatly improve the classification and segmentation accuracy of old landslide detection. For the semantic segmentation task, compared to the baseline, the F1 score increases from 0.5054 to 0.5448, the mIoU improves from 0.6405 to 0.6610, the landslide IoU improved from 0.3381 to 0.3743, and the object-level detection accuracy of old landslides is enhanced from 0.55 to 0.9. For the object classification task, the F1 score increases from 0.8846 to 0.9230, and the accuracy score is up from 0.8375 to 0.8875.

Impressive advances in acquisition and sharing technologies have made the growth of multimedia collections and their applications almost unlimited. However, the opposite is true for the availability of labeled data, which is needed for supervised training, since such data is often expensive and time-consuming to obtain. While there is a pressing need for the development of effective retrieval and classification methods, the difficulties faced by supervised approaches highlight the relevance of methods capable of operating with few or no labeled data. In this work, we propose a novel manifold learning algorithm named Rank Flow Embedding (RFE) for unsupervised and semi-supervised scenarios. The proposed method is based on ideas recently exploited by manifold learning approaches, which include hypergraphs, Cartesian products, and connected components. The algorithm computes context-sensitive embeddings, which are refined following a rank-based processing flow, while complementary contextual information is incorporated. The generated embeddings can be exploited for more effective unsupervised retrieval or semi-supervised classification based on Graph Convolutional Networks. Experimental results were conducted on 10 different collections. Various features were considered, including the ones obtained with recent Convolutional Neural Networks (CNN) and Vision Transformer (ViT) models. High effective results demonstrate the effectiveness of the proposed method on different tasks: unsupervised image retrieval, semi-supervised classification, and person Re-ID. The results demonstrate that RFE is competitive or superior to the state-of-the-art in diverse evaluated scenarios.

The need for large amounts of data to develop Artificial Intelligence (AI) in healthcare has motivated a number of national and international initiatives aimed at creating medical data lakes accessible to researchers, such as the French Health Data Hub [10], the UK BioBank [59], the US ADNI [26] and TCGA [60], among the many [58, 40, 7]. In spite of these initiatives, there are still major bottlenecks preventing the widespread availability of large centralized repositories of healthcare information [63]. To overcome these limitations, Federated Learning (FL) has been proposed as a working paradigm to enable the training of ML models on large datasets from diverse sources while guaranteeing the respect of data privacy and governance. The basic paradigm of FL consists of iterating the following steps: i) model training is performed locally in the hospitals starting from a common initialization, ii) the resulting model parameters are subsequently shared (instead of the data) and aggregated, to define a global model iii) transmitted back to the hospitals to initiate a new local training step. Under certain conditions [39], this procedure is guaranteed to converge to a final global model representing an optimal consensus among the hospitals participating in the experiment. FL is particularly suited for applications in sensitive domains, such as healthcare and biomedical research [48, 9, 13].

Dimensionality reduction (DR) techniques help analysts understand patterns in high-dimensional spaces. These techniques, often represented by scatter plots, are employed in diverse science domains and facilitate similarity analysis among clusters and data samples. For datasets containing many granularities or when analysis follows the information visualization mantra, hierarchical DR techniques are the most suitable approach since they present major structures beforehand and details on demand. However, current hierarchical DR techniques are not fully capable of addressing literature problems because they do not preserve the projection mental map across hierarchical levels or are not suitable for most data types. This work presents HUMAP, a novel hierarchical dimensionality reduction technique designed to be flexible in preserving local and global structures and the mental map throughout hierarchical exploration. We provide empirical evidence of our technique's superiority compared with current hierarchical approaches and show two case studies to demonstrate its strengths.

Attribute inference - the process of analyzing publicly available data in order to uncover hidden information - has become a major threat to privacy, given the recent technological leap in machine learning. One way to tackle this threat is to strategically modify one's publicly available data in order to keep one's private information hidden from attribute inference. We evaluate people's ability to perform this task, and compare it against algorithms designed for this purpose. We focus on three attributes: the gender of the author of a piece of text, the country in which a set of photos was taken, and the link missing from a social network. For each of these attributes, we find that people's effectiveness is inferior to that of AI, especially when it comes to hiding the attribute in question. Moreover, when people are asked to modify the publicly available information in order to hide these attributes, they are less likely to make high-impact modifications compared to AI. This suggests that people are unable to recognize the aspects of the data that are critical to an inference algorithm. Taken together, our findings highlight the limitations of relying on human intuition to protect privacy in the age of AI, and emphasize the need for algorithmic support to protect private information from attribute inference.

Mobility, power, and price points often dictate that robots do not have sufficient computing power on board to run contemporary robot algorithms at desired rates. Cloud computing providers such as AWS, GCP, and Azure offer immense computing power and increasingly low latency on demand, but tapping into that power from a robot is non-trivial. We present FogROS2, an open-source platform to facilitate cloud and fog robotics that is included in the Robot Operating System 2 (ROS 2) distribution. FogROS2 is distinct from its predecessor FogROS1 in 9 ways, including lower latency, overhead, and startup times; improved usability, and additional automation, such as region and computer type selection. Additionally, FogROS2 gains performance, timing, and additional improvements associated with ROS 2. In common robot applications, FogROS2 reduces SLAM latency by 50 %, reduces grasp planning time from 14 s to 1.2 s, and speeds up motion planning 45x. When compared to FogROS1, FogROS2 reduces network utilization by up to 3.8x, improves startup time by 63 %, and network round-trip latency by 97 % for images using video compression. The source code, examples, and documentation for FogROS2 are available at https://github.com/BerkeleyAutomation/FogROS2, and is available through the official ROS 2 repository at https://index.ros.org/p/fogros2/.

Understanding the host-specificity of different families of viruses sheds light on the origin of, e.g., SARS-CoV-2, rabies, and other such zoonotic pathogens in humans. It enables epidemiologists, medical professionals, and policymakers to curb existing epidemics and prevent future ones promptly. In the family Coronaviridae (of which SARS-CoV-2 is a member), it is well-known that the spike protein is the point of contact between the virus and the host cell membrane. On the other hand, the two traditional mammalian orders, Carnivora (carnivores) and Chiroptera (bats) are recognized to be responsible for maintaining and spreading the Rabies Lyssavirus (RABV). We propose Virus2Vec, a feature-vector representation for viral (nucleotide or amino acid) sequences that enable vector-space-based machine learning models to identify viral hosts. Virus2Vec generates numerical feature vectors for unaligned sequences, allowing us to forego the computationally expensive sequence alignment step from the pipeline. Virus2Vec leverages the power of both the \emph{minimizer} and position weight matrix (PWM) to generate compact feature vectors. Using several classifiers, we empirically evaluate Virus2Vec on real-world spike sequences of Coronaviridae and rabies virus sequence data to predict the host (identifying the reservoirs of infection). Our results demonstrate that Virus2Vec outperforms the predictive accuracies of baseline and state-of-the-art methods.