The 3D reconstruction of simultaneous localization and mapping (SLAM) is an important topic in the field for transport systems such as drones, service robots and mobile AR/VR devices. Compared to a point cloud representation, the 3D reconstruction based on meshes and voxels is particularly useful for high-level functions, like obstacle avoidance or interaction with the physical environment. This article reviews the implementation of a visual-based 3D scene reconstruction pipeline on resource-constrained hardware platforms. Real-time performances, memory management and low power consumption are critical for embedded systems. A conventional SLAM pipeline from sensors to 3D reconstruction is described, including the potential use of deep learning. The implementation of advanced functions with limited resources is detailed. Recent systems propose the embedded implementation of 3D reconstruction methods with different granularities. The trade-off between required accuracy and resource consumption for real-time localization and reconstruction is one of the open research questions identified and discussed in this paper.

Hallucination in a foundation model (FM) refers to the generation of content that strays from factual reality or includes fabricated information. This survey paper provides an extensive overview of recent efforts that aim to identify, elucidate, and tackle the problem of hallucination, with a particular focus on ``Large'' Foundation Models (LFMs). The paper classifies various types of hallucination phenomena that are specific to LFMs and establishes evaluation criteria for assessing the extent of hallucination. It also examines existing strategies for mitigating hallucination in LFMs and discusses potential directions for future research in this area. Essentially, the paper offers a comprehensive examination of the challenges and solutions related to hallucination in LFMs.

A crucial design decision for any robot learning pipeline is the choice of policy representation: what type of model should be used to generate the next set of robot actions? Owing to the inherent multi-modal nature of many robotic tasks, combined with the recent successes in generative modeling, researchers have turned to state-of-the-art probabilistic models such as diffusion models for policy representation. In this work, we revisit the choice of energy-based models (EBM) as a policy class. We show that the prevailing folklore -- that energy models in high dimensional continuous spaces are impractical to train -- is false. We develop a practical training objective and algorithm for energy models which combines several key ingredients: (i) ranking noise contrastive estimation (R-NCE), (ii) learnable negative samplers, and (iii) non-adversarial joint training. We prove that our proposed objective function is asymptotically consistent and quantify its limiting variance. On the other hand, we show that the Implicit Behavior Cloning (IBC) objective is actually biased even at the population level, providing a mathematical explanation for the poor performance of IBC trained energy policies in several independent follow-up works. We further extend our algorithm to learn a continuous stochastic process that bridges noise and data, modeling this process with a family of EBMs indexed by scale variable. In doing so, we demonstrate that the core idea behind recent progress in generative modeling is actually compatible with EBMs. Altogether, our proposed training algorithms enable us to train energy-based models as policies which compete with -- and even outperform -- diffusion models and other state-of-the-art approaches in several challenging multi-modal benchmarks: obstacle avoidance path planning and contact-rich block pushing.

Machine learning (ML), and deep learning (DL) in particular, is currently one of the most common data analysis approaches in applications. Deep models handle large amounts of input data, training many layers, but in most cases, their functioning is not transparent. In this regard they are often called black boxes [Saleem et al., 2022]. Decision-making process in such deep architectures is difficult to explain, raising concerns about the trustworthiness of such models and the security of their deployment. The problem of explainability of artificial intelligence (AI) models has received much attention [Baehrens et al., 2010, Lipton, 2018, Samek et al., 2017, Simonyan et al., 2014], and made eXplainable Artificial Intelligence (XAI) an important area of AI [Nauta et al., 2023]. Major goals of XAI are to develop approaches capable of uncovering the grounds behind model decision-making, and, more profoundly, to develop interpretable and logically explainable models. XAI explanations must be understandable, reliable, whereas the explained models must retain predictive accuracy [Saleem et al., 2022].

In recent decades, traditional drug research and development have been facing challenges such as high cost, long timelines, and high risks. To address these issues, many computational approaches have been suggested for predicting the relationship between drugs and diseases through drug repositioning, aiming to reduce the cost, development cycle, and risks associated with developing new drugs. Researchers have explored different computational methods to predict drug-disease associations, including drug side effects-disease associations, drug-target associations, and miRNAdisease associations. In this comprehensive review, we focus on recent advances in predicting drug-disease association methods for drug repositioning. We first categorize these methods into several groups, including neural network-based algorithms, matrixbased algorithms, recommendation algorithms, link-based reasoning algorithms, and text mining and semantic reasoning. Then, we compare the prediction performance of existing drug-disease association prediction algorithms. Lastly, we delve into the present challenges and future prospects concerning drug-disease associations.

The motions of mechanisms can be described in terms of screw coordinates by means of an exponential mapping. The product of exponentials (POE) describes the configuration of a chain of bodies connected by lower pair joints. The kinematics is thus given in terms of joint screws. The POE serves to express loop constraints for mechanisms as well as the forward kinematics of serial manipulators. Besides the compact formulations, the POE gives rise to purely algebraic relations for derivatives wrt. joint variables. It is known that the partial derivatives of the instantaneous joint screws (columns of the geometric Jacobian) are determined by Lie brackets the joint screws. Lesser-known is that derivative of arbitrary order can be compactly expressed by Lie brackets. This has significance for higher-order forward/inverse kinematics and dynamics of robots and multibody systems. Various relations were reported but are scattered in the literature and insufficiently recognized. This paper aims to provide a comprehensive overview of the relevant relations. Its original contributions are closed form and recursive relations for higher-order derivatives and Taylor expansions of various kinematic relations. Their application to kinematic control and dynamics of robotic manipulators and multibody systems is discussed.

I introduce a novel algorithm and accompanying Python library, named mlcausality, designed for the identification of nonlinear Granger causal relationships. This novel algorithm uses a flexible plug-in architecture that enables researchers to employ any nonlinear regressor as the base prediction model. Subsequently, I conduct a comprehensive performance analysis of mlcausality when the prediction regressor is the kernel ridge regressor with the radial basis function kernel. The results demonstrate that mlcausality employing kernel ridge regression achieves competitive AUC scores across a diverse set of simulated data. Furthermore, mlcausality with kernel ridge regression yields more finely calibrated $p$-values in comparison to rival algorithms. This enhancement enables mlcausality to attain superior accuracy scores when using intuitive $p$-value-based thresholding criteria. Finally, mlcausality with the kernel ridge regression exhibits significantly reduced computation times compared to existing nonlinear Granger causality algorithms. In fact, in numerous instances, this innovative approach achieves superior solutions within computational timeframes that are an order of magnitude shorter than those required by competing algorithms.

We present a novel approach for finding multiple noisily embedded template graphs in a very large background graph. Our method builds upon the graph-matching-matched-filter technique proposed in Sussman et al., with the discovery of multiple diverse matchings being achieved by iteratively penalizing a suitable node-pair similarity matrix in the matched filter algorithm. In addition, we propose algorithmic speed-ups that greatly enhance the scalability of our matched-filter approach. We present theoretical justification of our methodology in the setting of correlated Erdos-Renyi graphs, showing its ability to sequentially discover multiple templates under mild model conditions. We additionally demonstrate our method's utility via extensive experiments both using simulated models and real-world dataset, include human brain connectomes and a large transactional knowledge base.

This paper presents an innovative approach to address the pressing concern of fall incidents among the elderly by developing an accurate fall detection system. Our proposed system combines state-of-the-art technologies, including accelerometer and gyroscope sensors, with deep learning models, specifically Long Short-Term Memory (LSTM) networks. Real-time execution capabilities are achieved through the integration of Raspberry Pi hardware. We introduce pruning techniques that strategically fine-tune the LSTM model's architecture and parameters to optimize the system's performance. We prioritize recall over precision, aiming to accurately identify falls and minimize false negatives for timely intervention. Extensive experimentation and meticulous evaluation demonstrate remarkable performance metrics, emphasizing a high recall rate while maintaining a specificity of 96\%. Our research culminates in a state-of-the-art fall detection system that promptly sends notifications, ensuring vulnerable individuals receive timely assistance and improve their overall well-being. Applying LSTM models and incorporating pruning techniques represent a significant advancement in fall detection technology, offering an effective and reliable fall prevention and intervention solution.

Cloud Computing (CC) is revolutionizing the way IT resources are delivered to users, allowing them to access and manage their systems with increased cost-effectiveness and simplified infrastructure. However, with the growth of CC comes a host of security risks, including threats to availability, integrity, and confidentiality. To address these challenges, Machine Learning (ML) is increasingly being used by Cloud Service Providers (CSPs) to reduce the need for human intervention in identifying and resolving security issues. With the ability to analyze vast amounts of data, and make high-accuracy predictions, ML can transform the way CSPs approach security. In this paper, we will explore some of the most recent research in the field of ML-based security in Cloud Computing. We will examine the features and effectiveness of a range of ML algorithms, highlighting their unique strengths and potential limitations. Our goal is to provide a comprehensive overview of the current state of ML in cloud security and to shed light on the exciting possibilities that this emerging field has to offer.