Given the uncertainty surrounding how existing explainability methods for autonomous vehicles (AVs) meet the diverse needs of stakeholders, a thorough investigation is imperative to determine the contexts requiring explanations and suitable interaction strategies. A comprehensive review becomes crucial to assess the alignment of current approaches with the varied interests and expectations within the AV ecosystem. This study presents a review to discuss the complexities associated with explanation generation and presentation to facilitate the development of more effective and inclusive explainable AV systems. Our investigation led to categorising existing literature into three primary topics: explanatory tasks, explanatory information, and explanatory information communication. Drawing upon our insights, we have proposed a comprehensive roadmap for future research centred on (i) knowing the interlocutor, (ii) generating timely explanations, (ii) communicating human-friendly explanations, and (iv) continuous learning. Our roadmap is underpinned by principles of responsible research and innovation, emphasising the significance of diverse explanation requirements. To effectively tackle the challenges associated with implementing explainable AV systems, we have delineated various research directions, including the development of privacy-preserving data integration, ethical frameworks, real-time analytics, human-centric interaction design, and enhanced cross-disciplinary collaborations. By exploring these research directions, the study aims to guide the development and deployment of explainable AVs, informed by a holistic understanding of user needs, technological advancements, regulatory compliance, and ethical considerations, thereby ensuring safer and more trustworthy autonomous driving experiences.

Scanpath classification is an area in eye tracking research with possible applications in medicine, manufacturing as well as training systems for students in various domains. In this paper we propose a trainable feature extraction module for deep neural networks. The purpose of this module is to transform a scanpath into a feature vector which is directly useable for the deep neural network architecture. Based on the backpropagated error of the deep neural network, the feature extraction module adapts its parameters to improve the classification performance. Therefore, our feature extraction module is jointly trainable with the deep neural network. The motivation to this feature extraction module is based on classical histogram-based approaches which usually compute distributions over a scanpath. We evaluated our module on three public datasets and compared it to the state of the art approaches.

Stereophotogrammetry is an emerging technique of scene understanding. Its origins go back to at least the 1800s when people first started to investigate using photographs to measure the physical properties of the world. Since then, thousands of approaches have been explored. The classic geometric techniques of Shape from Stereo is built on using geometry to define constraints on scene and camera geometry and then solving the non-linear systems of equations. More recent work has taken an entirely different approach, using end-to-end deep learning without any attempt to explicitly model the geometry. In this survey, we explore the overlap for geometric-based and deep learning-based frameworks. We compare and contrast geometry enforcing constraints integrated into a deep learning framework for depth estimation or other closely related problems. We present a new taxonomy for prevalent geometry enforcing constraints used in modern deep learning frameworks. We also present insightful observations and potential future research directions.

Objectives: Medical research faces substantial challenges from noisy labels attributed to factors like inter-expert variability and machine-extracted labels. Despite this, the adoption of label noise management remains limited, and label noise is largely ignored. To this end, there is a critical need to conduct a scoping review focusing on the problem space. This scoping review aims to comprehensively review label noise management in deep learning-based medical prediction problems, which includes label noise detection, label noise handling, and evaluation. Research involving label uncertainty is also included. Methods: Our scoping review follows the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) guidelines. We searched 4 databases, including PubMed, IEEE Xplore, Google Scholar, and Semantic Scholar. Our search terms include "noisy label AND medical / healthcare / clinical", "un-certainty AND medical / healthcare / clinical", and "noise AND medical / healthcare / clinical". Results: A total of 60 papers met inclusion criteria between 2016 and 2023. A series of practical questions in medical research are investigated. These include the sources of label noise, the impact of label noise, the detection of label noise, label noise handling techniques, and their evaluation. Categorization of both label noise detection methods and handling techniques are provided. Discussion: From a methodological perspective, we observe that the medical community has been up to date with the broader deep-learning community, given that most techniques have been evaluated on medical data. We recommend considering label noise as a standard element in medical research, even if it is not dedicated to handling noisy labels. Initial experiments can start with easy-to-implement methods, such as noise-robust loss functions, weighting, and curriculum learning.

Is there a foreign language describing protein sequences and structures simultaneously? Protein structures, represented by continuous 3D points, have long posed a challenge due to the contrasting modeling paradigms of discrete sequences. We introduce \textbf{FoldTokenizer} to represent protein sequence-structure as discrete symbols. This innovative approach involves projecting residue types and structures into a discrete space, guided by a reconstruction loss for information preservation. We refer to the learned discrete symbols as \textbf{FoldToken}, and the sequence of FoldTokens serves as a new protein language, transforming the protein sequence-structure into a unified modality. We apply the created protein language on general backbone inpainting and antibody design tasks, building the first GPT-style model (\textbf{FoldGPT}) for sequence-structure co-generation with promising results. Key to our success is the substantial enhancement of the vector quantization module, Soft Conditional Vector Quantization (\textbf{SoftCVQ}).

We introduce Neural Parameter Regression (NPR), a novel framework specifically developed for learning solution operators in Partial Differential Equations (PDEs). Tailored for operator learning, this approach surpasses traditional DeepONets (Lu et al., 2021) by employing Physics-Informed Neural Network (PINN, Raissi et al., 2019) techniques to regress Neural Network (NN) parameters. By parametrizing each solution based on specific initial conditions, it effectively approximates a mapping between function spaces. Our method enhances parameter efficiency by incorporating low-rank matrices, thereby boosting computational efficiency and scalability. The framework shows remarkable adaptability to new initial and boundary conditions, allowing for rapid fine-tuning and inference, even in cases of out-of-distribution examples.

Large language models (LLMs) showcase many desirable traits for intelligent and helpful robots. However, they are also known to hallucinate predictions. This issue is exacerbated in consumer robotics where LLM hallucinations may result in robots confidently executing plans that are contrary to user goals, relying more frequently on human assistance, or preventing the robot from asking for help at all. In this work, we present LAP, a novel approach for utilizing off-the-shelf LLM's, alongside scene and object Affordances, in robotic Planners that minimize harmful hallucinations and know when to ask for help. Our key finding is that calculating and leveraging a scene affordance score, a measure of whether a given action is possible in the provided scene, helps to mitigate hallucinations in LLM predictions and better align the LLM's confidence measure with the probability of success. We specifically propose and test three different affordance scores, which can be used independently or in tandem to improve performance across different use cases. The most successful of these individual scores involves prompting an LLM to determine if a given action is possible and safe in the given scene and uses the LLM's response to compute the score. Through experiments in both simulation and the real world, on tasks with a variety of ambiguities, we show that LAP significantly increases success rate and decreases the amount of human intervention required relative to prior art. For example, in our real-world testing paradigm, LAP decreases the human help rate of previous methods by over 33% at a success rate of 70%.

Modern approach to artificial intelligence (AI) aims to design algorithms that learn directly from data. This approach has achieved impressive results and has contributed significantly to the progress of AI, particularly in the sphere of supervised deep learning. It has also simplified the design of machine learning systems as the learning process is highly automated. However, not all data processing tasks in conventional deep learning pipelines have been automated. In most cases data has to be manually collected, preprocessed and further extended through data augmentation before they can be effective for training. Recently, special techniques for automating these tasks have emerged. The automation of data processing tasks is driven by the need to utilize large volumes of complex, heterogeneous data for machine learning and big data applications. Today, end-to-end automated data processing systems based on automated machine learning (AutoML) techniques are capable of taking raw data and transforming them into useful features for Big Data tasks by automating all intermediate processing stages. In this work, we present a thorough review of approaches for automating data processing tasks in deep learning pipelines, including automated data preprocessing--e.g., data cleaning, labeling, missing data imputation, and categorical data encoding--as well as data augmentation (including synthetic data generation using generative AI methods) and feature engineering--specifically, automated feature extraction, feature construction and feature selection. In addition to automating specific data processing tasks, we discuss the use of AutoML methods and tools to simultaneously optimize all stages of the machine learning pipeline.

GNN-based approaches for learning general policies across planning domains are limited by the expressive power of $C_2$, namely; first-order logic with two variables and counting. This limitation can be overcomed by transitioning to $k$-GNNs, for $k=3$, wherein object embeddings are substituted with triplet embeddings. Yet, while $3$-GNNs have the expressive power of $C_3$, unlike $1$- and $2$-GNNs that are confined to $C_2$, they require quartic time for message exchange and cubic space for embeddings, rendering them impractical. In this work, we introduce a parameterized version of relational GNNs. When $t$ is infinity, R-GNN[$t$] approximates $3$-GNNs using only quadratic space for embeddings. For lower values of $t$, such as $t=1$ and $t=2$, R-GNN[$t$] achieves a weaker approximation by exchanging fewer messages, yet interestingly, often yield the $C_3$ features required in several planning domains. Furthermore, the new R-GNN[$t$] architecture is the original R-GNN architecture with a suitable transformation applied to the input states only. Experimental results illustrate the clear performance gains of R-GNN[$1$] and R-GNN[$2$] over plain R-GNNs, and also over edge transformers that also approximate $3$-GNNs.

This paper introduces a groundbreaking digital neuromorphic architecture that innovatively integrates Brain Code Unit (BCU) and Fundamental Code Unit (FCU) using mixedsignal design methodologies. Leveraging open-source datasets and the latest advances in materials science, our research focuses on enhancing the computational efficiency, accuracy, and adaptability of neuromorphic systems. The core of our approach lies in harmonizing the precision and scalability of digital systems with the robustness and energy efficiency of analog processing. Through experimentation, we demonstrate the effectiveness of our system across various metrics. The BCU achieved an accuracy of 88.0% and a power efficiency of 20.0 GOP/s/W, while the FCU recorded an accuracy of 86.5% and a power efficiency of 18.5 GOP/s/W. Our mixed-signal design approach significantly improved latency and throughput, achieving a latency as low as 0.75 ms and throughput up to 213 TOP/s. These results firmly establish the potential of our architecture in neuromorphic computing, providing a solid foundation for future developments in this domain. Our study underscores the feasibility of mixedsignal neuromorphic systems and their promise in advancing the field, particularly in applications requiring high efficiency and adaptability