Digital documentation of large interiors of historical buildings is an exhausting task since most of the areas of interest are beyond typical human reach. We advocate the use of autonomous teams of multi-rotor Unmanned Aerial Vehicles (UAVs) to speed up the documentation process by several orders of magnitude while allowing for a repeatable, accurate, and condition-independent solution capable of precise collision-free operation at great heights. The proposed multi-robot approach allows for performing tasks requiring dynamic scene illumination in large-scale real-world scenarios, a process previously applicable only in small-scale laboratory-like conditions. Extensive experimental analyses range from single-UAV imaging to specialized lighting techniques requiring accurate coordination of multiple UAVs. The system's robustness is demonstrated in more than two hundred autonomous flights in fifteen historical monuments requiring superior safety while lacking access to external localization. This unique experimental campaign, cooperated with restorers and conservators, brought numerous lessons transferable to other safety-critical robotic missions in documentation and inspection tasks.

In the context of rapid discoveries by leaders in AI, governments must consider how to design regulation that matches the increasing pace of new AI capabilities. Regulatory Markets for AI is a proposal designed with adaptability in mind. It involves governments setting outcome-based targets for AI companies to achieve, which they can show by purchasing services from a market of private regulators. We use an evolutionary game theory model to explore the role governments can play in building a Regulatory Market for AI systems that deters reckless behaviour. We warn that it is alarmingly easy to stumble on incentives which would prevent Regulatory Markets from achieving this goal. These 'Bounty Incentives' only reward private regulators for catching unsafe behaviour. We argue that AI companies will likely learn to tailor their behaviour to how much effort regulators invest, discouraging regulators from innovating. Instead, we recommend that governments always reward regulators, except when they find that those regulators failed to detect unsafe behaviour that they should have. These 'Vigilant Incentives' could encourage private regulators to find innovative ways to evaluate cutting-edge AI systems.

Fingerprint-based identification systems achieve higher accuracy when a slap containing multiple fingerprints of a subject is used instead of a single fingerprint. However, segmenting or auto-localizing all fingerprints in a slap image is a challenging task due to the different orientations of fingerprints, noisy backgrounds, and the smaller size of fingertip components. The presence of slap images in a real-world dataset where one or more fingerprints are rotated makes it challenging for a biometric recognition system to localize and label the fingerprints automatically. Improper fingerprint localization and finger labeling errors lead to poor matching performance. In this paper, we introduce a method to generate arbitrary angled bounding boxes using a deep learning-based algorithm that precisely localizes and labels fingerprints from both axis-aligned and over-rotated slap images. We built a fingerprint segmentation model named CRFSEG (Clarkson Rotated Fingerprint segmentation Model) by updating the previously proposed CFSEG model which was based on traditional Faster R-CNN architecture [21]. CRFSEG improves upon the Faster R-CNN algorithm with arbitrarily angled bounding boxes that allow the CRFSEG to perform better in challenging slap images. After training the CRFSEG algorithm on a new dataset containing slap images collected from both adult and children subjects, our results suggest that the CRFSEG model was invariant across different age groups and can handle over-rotated slap images successfully. In the Combined dataset containing both normal and rotated images of adult and children subjects, we achieved a matching accuracy of 97.17%, which outperformed state-of-the-art VeriFinger (94.25%) and NFSEG segmentation systems (80.58%).

Rich data and powerful machine learning models allow us to design drugs for a specific protein target \textit{in silico}. Recently, the inclusion of 3D structures during targeted drug design shows superior performance to other target-free models as the atomic interaction in the 3D space is explicitly modeled. However, current 3D target-aware models either rely on the voxelized atom densities or the autoregressive sampling process, which are not equivariant to rotation or easily violate geometric constraints resulting in unrealistic structures. In this work, we develop a 3D equivariant diffusion model to solve the above challenges. To achieve target-aware molecule design, our method learns a joint generative process of both continuous atom coordinates and categorical atom types with a SE(3)-equivariant network. Moreover, we show that our model can serve as an unsupervised feature extractor to estimate the binding affinity under proper parameterization, which provides an effective way for drug screening. To evaluate our model, we propose a comprehensive framework to evaluate the quality of sampled molecules from different dimensions. Empirical studies show our model could generate molecules with more realistic 3D structures and better affinities towards the protein targets, and improve binding affinity ranking and prediction without retraining.

Traditional models of opinion dynamics provide a simple approach to understanding human behavior in basic social scenarios. However, when it comes to issues such as polarization and extremism, we require a more nuanced understanding of human biases and cognitive tendencies. In this paper, we propose an approach to modeling opinion dynamics by integrating mental models and assumptions of individuals agents using Bayesian-inspired methods. By exploring the relationship between human rationality and Bayesian theory, we demonstrate the efficacy of these methods in describing how opinions evolve. Our analysis leverages the Continuous Opinions and Discrete Actions (CODA) model, applying Bayesian-inspired rules to account for key human behaviors such as confirmation bias, motivated reasoning, and our reluctance to change opinions. Through this, we obtain update rules that offer deeper insights into the dynamics of extreme opinions. Our work sheds light on the role of human biases in shaping opinion dynamics and highlights the potential of Bayesian-inspired modeling to provide more accurate predictions of real-world scenarios. Keywords: Opinion dynamics, Bayesian methods, Cognition, CODA, Agent-based models

Training deep neural networks is a challenging non-convex optimization problem. Recent work has proven that the strong duality holds (which means zero duality gap) for regularized finite-width two-layer ReLU networks and consequently provided an equivalent convex training problem. However, extending this result to deeper networks remains to be an open problem. In this paper, we prove that the duality gap for deeper linear networks with vector outputs is non-zero. In contrast, we show that the zero duality gap can be obtained by stacking standard deep networks in parallel, which we call a parallel architecture, and modifying the regularization. Therefore, we prove the strong duality and existence of equivalent convex problems that enable globally optimal training of deep networks. As a by-product of our analysis, we demonstrate that the weight decay regularization on the network parameters explicitly encourages low-rank solutions via closed-form expressions. In addition, we show that strong duality holds for three-layer standard ReLU networks given rank-1 data matrices.

Randomized Controlled Trials (RCTs) represent a gold standard when developing policy guidelines. However, RCTs are often narrow, and lack data on broader populations of interest. Causal effects in these populations are often estimated using observational datasets, which may suffer from unobserved confounding and selection bias. Given a set of observational estimates (e.g. from multiple studies), we propose a meta-algorithm that attempts to reject observational estimates that are biased. We do so using validation effects, causal effects that can be inferred from both RCT and observational data. After rejecting estimators that do not pass this test, we generate conservative confidence intervals on the extrapolated causal effects for subgroups not observed in the RCT. Under the assumption that at least one observational estimator is asymptotically normal and consistent for both the validation and extrapolated effects, we provide guarantees on the coverage probability of the intervals output by our algorithm. To facilitate hypothesis testing in settings where causal effect transportation across datasets is necessary, we give conditions under which a doubly-robust estimator of group average treatment effects is asymptotically normal, even when flexible machine learning methods are used for estimation of nuisance parameters. We illustrate the properties of our approach on semi-synthetic and real world datasets, and show that it compares favorably to standard meta-analysis techniques.

Communication compression is a crucial technique for modern distributed learning systems to alleviate their communication bottlenecks over slower networks. Despite recent intensive studies of gradient compression for data parallel-style training, compressing the activations for models trained with pipeline parallelism is still an open problem. In this paper, we propose AC-SGD, a novel activation compression algorithm for communication-efficient pipeline parallelism training over slow networks. Different from previous efforts in activation compression, instead of compressing activation values directly, AC-SGD compresses the changes of the activations. This allows us to show, to the best of our knowledge for the first time, that one can still achieve $O(1/\sqrt{T})$ convergence rate for non-convex objectives under activation compression, without making assumptions on gradient unbiasedness that do not hold for deep learning models with non-linear activation functions.We then show that AC-SGD can be optimized and implemented efficiently, without additional end-to-end runtime overhead.We evaluated AC-SGD to fine-tune language models with up to 1.5 billion parameters, compressing activations to 2-4 bits.AC-SGD provides up to 4.3X end-to-end speed-up in slower networks, without sacrificing model quality. Moreover, we also show that AC-SGD can be combined with state-of-the-art gradient compression algorithms to enable "end-to-end communication compression: All communications between machines, including model gradients, forward activations, and backward gradients are compressed into lower precision.This provides up to 4.9X end-to-end speed-up, without sacrificing model quality.

The promise of multimodal models for real-world applications has inspired research in visualizing and understanding their internal mechanics with the end goal of empowering stakeholders to visualize model behavior, perform model debugging, and promote trust in machine learning models. However, modern multimodal models are typically black-box neural networks, which makes it challenging to understand their internal mechanics. How can we visualize the internal modeling of multimodal interactions in these models? Our paper aims to fill this gap by proposing MultiViz, a method for analyzing the behavior of multimodal models by scaffolding the problem of interpretability into 4 stages: (1) unimodal importance: how each modality contributes towards downstream modeling and prediction, (2) cross-modal interactions: how different modalities relate with each other, (3) multimodal representations: how unimodal and cross-modal interactions are represented in decision-level features, and (4) multimodal prediction: how decision-level features are composed to make a prediction. MultiViz is designed to operate on diverse modalities, models, tasks, and research areas. Through experiments on 8 trained models across 6 real-world tasks, we show that the complementary stages in MultiViz together enable users to (1) simulate model predictions, (2) assign interpretable concepts to features, (3) perform error analysis on model misclassifications, and (4) use insights from error analysis to debug models. MultiViz is publicly available, will be regularly updated with new interpretation tools and metrics, and welcomes inputs from the community.

Medical devices and artificial intelligence systems rapidly transform healthcare provisions. At the same time, due to their nature, AI in or as medical devices might get exposed to cyberattacks, leading to patient safety and security risks. This book chapter is divided into three parts. The first part starts by setting the scene where we explain the role of cybersecurity in healthcare. Then, we briefly define what we refer to when we talk about AI that is considered a medical device by itself or supports one. To illustrate the risks such medical devices pose, we provide three examples: the poisoning of datasets, social engineering, and data or source code extraction. In the second part, the paper provides an overview of the European Union's regulatory framework relevant for ensuring the cybersecurity of AI as or in medical devices (MDR, NIS Directive, Cybersecurity Act, GDPR, the AI Act proposal and the NIS 2 Directive proposal). Finally, the third part of the paper examines possible challenges stemming from the EU regulatory framework. In particular, we look toward the challenges deriving from the two legislative proposals and their interaction with the existing legislation concerning AI medical devices' cybersecurity. They are structured as answers to the following questions: (1) how will the AI Act interact with the MDR regarding the cybersecurity and safety requirements?; (2) how should we interpret incident notification requirements from the NIS 2 Directive proposal and MDR?; and (3) what are the consequences of the evolving term of critical infrastructures? [This is a draft chapter. The final version will be available in Research Handbook on Health, AI and the Law edited by Barry Solaiman & I. Glenn Cohen, forthcoming 2023, Edward Elgar Publishing Ltd]