Active collision avoidance system plays a crucial role in ensuring the lateral safety of autonomous vehicles, and it is primarily related to path planning and tracking control algorithms. In particular, the direct yaw-moment control (DYC) system can significantly improve the lateral stability of a vehicle in environments with sudden changes in road conditions. In order to apply the DYC algorithm, it is very important to accurately consider the properties of tire forces with complex nonlinearity for control to ensure the lateral stability of the vehicle. In this study, longitudinal and lateral tire forces for safety path tracking were simultaneously estimated using a long short-term memory (LSTM) neural network based estimator. Furthermore, to improve path tracking performance in case of sudden changes in road conditions, a system has been developed by combining 4-wheel independent steering (4WIS) model predictive control (MPC) and 4-wheel independent drive (4WID) direct yaw-moment control (DYC). The estimation performance of the extended Kalman filter (EKF), which are commonly used for tire force estimation, was compared. In addition, the estimated longitudinal and lateral tire forces of each wheel were applied to the proposed system, and system verification was performed through simulation using a vehicle dynamics simulator. Consequently, the proposed method, the integrated path tracking algorithm with DYC and MPC using the LSTM based estimator, was validated to significantly improve the vehicle stability in suddenly changing road conditions.

Advances in digitizing tissue slides and the fast-paced progress in artificial intelligence, including deep learning, have boosted the field of computational pathology. This field holds tremendous potential to automate clinical diagnosis, predict patient prognosis and response to therapy, and discover new morphological biomarkers from tissue images. Some of these artificial intelligence-based systems are now getting approved to assist clinical diagnosis; however, technical barriers remain for their widespread clinical adoption and integration as a research tool. This Review consolidates recent methodological advances in computational pathology for predicting clinical end points in whole-slide images and highlights how these developments enable the automation of clinical practice and the discovery of new biomarkers. We then provide future perspectives as the field expands into a broader range of clinical and research tasks with increasingly diverse modalities of clinical data.

The adversarial vulnerability of Deep Neural Networks (DNNs) has been well-known and widely concerned, often under the context of learning top-$1$ attacks (e.g., fooling a DNN to classify a cat image as dog). This paper shows that the concern is much more serious by learning significantly more aggressive ordered top-$K$ clear-box~\footnote{ This is often referred to as white/black-box attacks in the literature. We choose to adopt neutral terminology, clear/opaque-box attacks in this paper, and omit the prefix clear-box for simplicity.} targeted attacks proposed in Adversarial Distillation. We propose a novel and rigorous quadratic programming (QP) method of learning ordered top-$K$ attacks with low computing cost, dubbed as \textbf{QuadAttac$K$}. Our QuadAttac$K$ directly solves the QP to satisfy the attack constraint in the feature embedding space (i.e., the input space to the final linear classifier), which thus exploits the semantics of the feature embedding space (i.e., the principle of class coherence). With the optimized feature embedding vector perturbation, it then computes the adversarial perturbation in the data space via the vanilla one-step back-propagation. In experiments, the proposed QuadAttac$K$ is tested in the ImageNet-1k classification using ResNet-50, DenseNet-121, and Vision Transformers (ViT-B and DEiT-S). It successfully pushes the boundary of successful ordered top-$K$ attacks from $K=10$ up to $K=20$ at a cheap budget ($1\times 60$) and further improves attack success rates for $K=5$ for all tested models, while retaining the performance for $K=1$.

Conflict transformation and management are complex decision processes with extremely high stakes at hand and could greatly benefit from formal approaches to decision support. For this purpose we develop a general framework about how to use problem structuring methods for such purposes. More precisely we show how to transform cognitive maps to value trees in order to promote a more design-oriented approach to decision support aiming at constructing innovative solutions for conflict management purposes. We show that our findings have a much wider validity since they allow to move from a descriptive representation of a problem situation to a more prescriptive one using formal procedures and models.

Radio signal classification plays a pivotal role in identifying the modulation scheme used in received radio signals, which is essential for demodulation and proper interpretation of the transmitted information. Researchers have underscored the high susceptibility of ML algorithms for radio signal classification to adversarial attacks. Such vulnerability could result in severe consequences, including misinterpretation of critical messages, interception of classified information, or disruption of communication channels. Recent advancements in quantum computing have revolutionized theories and implementations of computation, bringing the unprecedented development of Quantum Machine Learning (QML). It is shown that quantum variational classifiers (QVCs) provide notably enhanced robustness against classical adversarial attacks in image classification. However, no research has yet explored whether QML can similarly mitigate adversarial threats in the context of radio signal classification. This work applies QVCs to radio signal classification and studies their robustness to various adversarial attacks. We also propose the novel application of the approximate amplitude encoding (AAE) technique to encode radio signal data efficiently. Our extensive simulation results present that attacks generated on QVCs transfer well to CNN models, indicating that these adversarial examples can fool neural networks that they are not explicitly designed to attack. However, the converse is not true. QVCs primarily resist the attacks generated on CNNs. Overall, with comprehensive simulations, our results shed new light on the growing field of QML by bridging knowledge gaps in QAML in radio signal classification and uncovering the advantages of applying QML methods in practical applications.

Degraded rangelands undergo continual shifts in the appearance and distribution of plant life. The nature of these changes however is subtle: between seasons seedlings sprout up and some flourish while others perish, meanwhile, over multiple seasons they experience fluctuating precipitation volumes and can be grazed by livestock. The nature of these conditioning variables makes it difficult for ecologists to quantify the efficacy of intervention techniques under study. To support these observation and intervention tasks, we develop RestoreBot: a mobile robotic platform designed for gathering data in degraded rangelands for the purpose of data collection and intervention in order to support revegetation. Over the course of multiple deployments, we outline the opportunities and challenges of autonomous data collection for revegetation and the importance of further effort in this area. Specifically, we identify that localization, mapping, data association, and terrain assessment remain open problems for deployment, but that recent advances in computer vision, sensing, and autonomy offer promising prospects for autonomous revegetation.

Two different forms of responsibility, counterfactual and seeing-to-it, have been extensively discussed in the philosophy and AI in the context of a single agent or multiple agents acting simultaneously. Although the generalisation of counterfactual responsibility to a setting where multiple agents act in some order is relatively straightforward, the same cannot be said about seeing-to-it responsibility. Two versions of seeing-to-it modality applicable to such settings have been proposed in the literature. Neither of them perfectly captures the intuition of responsibility. This paper proposes a definition of seeing-to-it responsibility for such settings that amalgamate the two modalities. This paper shows that the newly proposed notion of responsibility and counterfactual responsibility are not definable through each other and studies the responsibility gap for these two forms of responsibility. It shows that although these two forms of responsibility are not enough to ascribe responsibility in each possible situation, this gap does not exist if higher-order responsibility is taken into account.

In this study, we present a novel computational method for generating molecular fingerprints using multiparameter persistent homology (MPPH). This technique holds considerable significance for drug discovery and materials science, where precise molecular property prediction is vital. By integrating SE(3)-invariance with Vietoris-Rips persistent homology, we effectively capture the three-dimensional representations of molecular chirality. This non-superimposable mirror image property directly influences the molecular interactions, serving as an essential factor in molecular property prediction. We explore the underlying topologies and patterns in molecular structures by applying Vietoris-Rips persistent homology across varying scales and parameters such as atomic weight, partial charge, bond type, and chirality. Our method's efficacy can be improved by incorporating additional parameters such as aromaticity, orbital hybridization, bond polarity, conjugated systems, as well as bond and torsion angles. Additionally, we leverage Stochastic Gradient Langevin Boosting in a Bayesian ensemble of GBDTs to obtain aleatoric and epistemic uncertainty estimates for gradient boosting models. With these uncertainty estimates, we prioritize high-uncertainty samples for active learning and model fine-tuning, benefiting scenarios where data labeling is costly or time consuming. Compared to conventional GNNs which usually suffer from oversmoothing and oversquashing, MPPH provides a more comprehensive and interpretable characterization of molecular data topology. We substantiate our approach with theoretical stability guarantees and demonstrate its superior performance over existing state-of-the-art methods in predicting molecular properties through extensive evaluations on the MoleculeNet benchmark datasets.

We show that marginals of subchains of length $t$ of any finitely correlated translation invariant state on a chain can be learned, in trace distance, with $O(t^2)$ copies -- with an explicit dependence on local dimension, memory dimension and spectral properties of a certain map constructed from the state -- and computational complexity polynomial in $t$. The algorithm requires only the estimation of a marginal of a controlled size, in the worst case bounded by a multiple of the minimum bond dimension, from which it reconstructs a translation invariant matrix product operator. In the analysis, a central role is played by the theory of operator systems. A refined error bound can be proven for $C^*$-finitely correlated states, which have an operational interpretation in terms of sequential quantum channels applied to the memory system. We can also obtain an analogous error bound for a class of matrix product density operators reconstructible by local marginals. In this case, a linear number of marginals must be estimated, obtaining a sample complexity of $\tilde{O}(t^3)$. The learning algorithm also works for states that are only close to a finitely correlated state, with the potential of providing competitive algorithms for other interesting families of states.

Multilingual large language models have been increasingly popular for their proficiency in comprehending and generating text across various languages. Previous research has shown that the presence of stereotypes and biases in monolingual large language models can be attributed to the nature of their training data, which is collected from humans and reflects societal biases. Multilingual language models undergo the same training procedure as monolingual ones, albeit with training data sourced from various languages. This raises the question: do stereotypes present in one social context leak across languages within the model? In our work, we first define the term ``stereotype leakage'' and propose a framework for its measurement. With this framework, we investigate how stereotypical associations leak across four languages: English, Russian, Chinese, and Hindi. To quantify the stereotype leakage, we employ an approach from social psychology, measuring stereotypes via group-trait associations. We evaluate human stereotypes and stereotypical associations manifested in multilingual large language models such as mBERT, mT5, and ChatGPT. Our findings show a noticeable leakage of positive, negative, and non-polar associations across all languages. Notably, Hindi within multilingual models appears to be the most susceptible to influence from other languages, while Chinese is the least. Additionally, ChatGPT exhibits a better alignment with human scores than other models.