Bipartite ranking is a fundamental supervised learning problem, with the goal of learning a ranking over instances with maximal area under the ROC curve (AUC) against a single binary target label. However, one may often observe multiple binary target labels, e.g., from distinct human annotators. How can one synthesize such labels into a single coherent ranking? In this work, we formally analyze two approaches to this problem -- loss aggregation and label aggregation -- by characterizing their Bayes-optimal solutions. Based on this, we show that while both methods can yield Pareto-optimal solutions, loss aggregation can exhibit label dictatorship: one can inadvertently (and undesirably) favor one label over others. This suggests that label aggregation can be preferable to loss aggregation, which we empirically verify.

Semi-supervised learning (SSL) has achieved significant progress by leveraging both labeled data and unlabeled data. Existing SSL methods overlook a common real-world scenario when labeled data is extremely scarce, potentially as limited as a single labeled sample in the dataset. General SSL approaches struggle to train effectively from scratch under such constraints, while methods utilizing pre-trained models often fail to find an optimal balance between leveraging limited labeled data and abundant unlabeled data. To address this challenge, we propose Firstly Adapt, Then catEgorize (FATE), a novel SSL framework tailored for scenarios with extremely limited labeled data. At its core, the two-stage prompt tuning paradigm FATE exploits unlabeled data to compensate for scarce supervision signals, then transfers to downstream tasks. Concretely, FATE first adapts a pre-trained model to the feature distribution of downstream data using volumes of unlabeled samples in an unsupervised manner. It then applies an SSL method specifically designed for pre-trained models to complete the final classification task. FATE is designed to be compatible with both vision and vision-language pre-trained models. Extensive experiments demonstrate that FATE effectively mitigates challenges arising from the scarcity of labeled samples in SSL, achieving an average performance improvement of 33.74% across seven benchmarks compared to state-of-the-art SSL methods. Code is available at https://anonymous.4open.science/r/Semi-supervised-learning-BA72.

Recently, a growing number of experts in artificial intelligence (AI) and medicine have be-gun to suggest that the use of AI systems, particularly machine learning (ML) systems, is likely to humanise the practice of medicine by substantially improving the quality of clinician-patient relationships. In this thesis, however, I argue that medical ML systems are more likely to negatively impact these relationships than to improve them. In particular, I argue that the use of medical ML systems is likely to comprise the quality of trust, care, empathy, understanding, and communication between clinicians and patients.

Self-supervised learning has transformed 2D computer vision by enabling models trained on large, unannotated datasets to provide versatile off-the-shelf features that perform similarly to models trained with labels. However, in 3D scene understanding, self-supervised methods are typically only used as a weight initialization step for task-specific fine-tuning, limiting their utility for general-purpose feature extraction. This paper addresses this shortcoming by proposing a robust evaluation protocol specifically designed to assess the quality of self-supervised features for 3D scene understanding. Our protocol uses multi-resolution feature sampling of hierarchical models to create rich point-level representations that capture the semantic capabilities of the model and, hence, are suitable for evaluation with linear probing and nearest-neighbor methods. Furthermore, we introduce the first self-supervised model that performs similarly to supervised models when only off-the-shelf features are used in a linear probing setup. In particular, our model is trained natively in 3D with a novel self-supervised approach based on a Masked Scene Modeling objective, which reconstructs deep features of masked patches in a bottom-up manner and is specifically tailored to hierarchical 3D models. Our experiments not only demonstrate that our method achieves competitive performance to supervised models, but also surpasses existing self-supervised approaches by a large margin. The model and training code can be found at our Github repository (https://github.com/phermosilla/msm).

3D semantic segmentation plays a critical role in urban modelling, enabling detailed understanding and mapping of city environments. In this paper, we introduce Turin3D: a new aerial LiDAR dataset for point cloud semantic segmentation covering an area of around 1.43 km2 in the city centre of Turin with almost 70M points. We describe the data collection process and compare Turin3D with others previously proposed in the literature. We did not fully annotate the dataset due to the complexity and time-consuming nature of the process; however, a manual annotation process was performed on the validation and test sets, to enable a reliable evaluation of the proposed techniques. We first benchmark the performances of several point cloud semantic segmentation models, trained on the existing datasets, when tested on Turin3D, and then improve their performances by applying a semi-supervised learning technique leveraging the unlabelled training set. The dataset will be publicly available to support research in outdoor point cloud segmentation, with particular relevance for self-supervised and semi-supervised learning approaches given the absence of ground truth annotations for the training set.

As deep learning continues to be driven by ever-larger datasets, understanding which examples are most important for generalization has become a critical question. While progress in data selection continues, emerging applications require studying this problem in dynamic contexts. To bridge this gap, we pose the Incremental Data Selection (IDS) problem, where examples arrive as a continuous stream, and need to be selected without access to the full data source. In this setting, the learner must incrementally build a training dataset of predefined size while simultaneously learning the underlying task. We find that in IDS, the impact of a new sample on the model state depends fundamentally on both its geometric relationship in the feature space and its prediction error. Leveraging this insight, we propose PEAKS (Prediction Error Anchored by Kernel Similarity), an efficient data selection method tailored for IDS. Our comprehensive evaluations demonstrate that PEAKS consistently outperforms existing selection strategies. Furthermore, PEAKS yields increasingly better performance returns than random selection as training data size grows on real-world datasets.

As the application of generative adversarial networks (GANs) expands, it becomes increasingly critical to develop a unified approach that improves performance across various generative tasks. One effective strategy that applies to any machine learning task is identifying harmful instances, whose removal improves the performance. While previous studies have successfully estimated these harmful training instances in supervised settings, their approaches are not easily applicable to GANs. The challenge lies in two requirements of the previous approaches that do not apply to GANs. First, previous approaches require that the absence of a training instance directly affects the parameters. However, in the training for GANs, the instances do not directly affect the generator's parameters since they are only fed into the discriminator. Second, previous approaches assume that the change in loss directly quantifies the harmfulness of the instance to a model's performance, while common types of GAN losses do not always reflect the generative performance. To overcome the first challenge, we propose influence estimation methods that use the Jacobian of the generator's gradient with respect to the discriminator's parameters (and vice versa). Such a Jacobian represents the indirect effect between two models: how removing an instance from the discriminator's training changes the generator's parameters. Second, we propose an instance evaluation scheme that measures the harmfulness of each training instance based on how a GAN evaluation metric (e.g., Inception score) is expected to change by the instance's removal. Furthermore, we demonstrate that removing the identified harmful instances significantly improves the generative performance on various GAN evaluation metrics.

This paper introduces feature subset weighting using monotone measures for distance-based supervised learning. The Choquet integral is used to define a distance metric that incorporates these weights. This integration enables the proposed distances to effectively capture non-linear relationships and account for interactions both between conditional and decision attributes and among conditional attributes themselves, resulting in a more flexible distance measure. In particular, we show how this approach ensures that the distances remain unaffected by the addition of duplicate and strongly correlated features. Another key point of this approach is that it makes feature subset weighting computationally feasible, since only $m$ feature subset weights should be calculated each time instead of calculating all feature subset weights ($2^m$), where $m$ is the number of attributes. Next, we also examine how the use of the Choquet integral for measuring similarity leads to a non-equivalent definition of distance. The relationship between distance and similarity is further explored through dual measures. Additionally, symmetric Choquet distances and similarities are proposed, preserving the classical symmetry between similarity and distance. Finally, we introduce a concrete feature subset weighting distance, evaluate its performance in a $k$-nearest neighbors (KNN) classification setting, and compare it against Mahalanobis distances and weighted distance methods.

-- Grasp-based manipulation tasks are fundamental to robots interacting with their environments, yet gripper state ambiguity significantly reduces the robustness of imitation learning policies for these tasks. Data-driven solutions face the challenge of high real-world data costs, while simulation data, despite its low costs, is limited by the sim-to-real gap. We identify the root cause of gripper state ambiguity as the lack of tactile feedback. T o address this, we propose a novel approach employing pseudo-tactile as feedback, inspired by the idea of using a force-controlled gripper as a tactile sensor . This method enhances policy robustness without additional data collection and hardware involvement, while providing a noise-free binary gripper state observation for the policy and thus facilitating pure simulation learning to unleash the power of simulation. Experimental results across three real-world grasp-based tasks demonstrate the necessity, effectiveness, and efficiency of our approach. Videos are available on Project Page. Grasp-based manipulation spans a wide range of tasks, from simple pick-and-place [1], [2] to more complex interactions like tool usage [3], [4], making it a fundamental capability for robots to engage with the environment. One promising way to teach robots these skills is imitation learning (IL) [5], [6], which enables robots to learn directly from expert demonstrations through supervised learning. The efficacy of IL is heavily dependent on the quantity and quality of the provided demonstrations.

Decentralized federated learning enables learning of data representations from multiple sources without compromising the privacy of the clients. In applications like medical image segmentation, where obtaining a large annotated dataset from a single source is a distressing problem, federated self-supervised learning can provide some solace. In this work, we push the limits further by exploring a federated self-supervised one-shot segmentation task representing a more data-scarce scenario. We adopt a pre-existing self-supervised few-shot segmentation framework CoWPro and adapt it to the federated learning scenario. To the best of our knowledge, this work is the first to attempt a self-supervised few-shot segmentation task in the federated learning domain. Moreover, we consider the clients to be constituted of data from different modalities and imaging techniques like MR or CT, which makes the problem even harder. Additionally, we reinforce and improve the baseline CoWPro method using a fused dice loss which shows considerable improvement in performance over the baseline CoWPro. Finally, we evaluate this novel framework on a completely unseen held-out part of the local client dataset. We observe that the proposed framework can achieve performance at par or better than the FedAvg version of the CoWPro framework on the held-out validation dataset.