We present an approach for mobile robots to recognize scenes in object arrangements distributed across cluttered environments. Recognition is enabled by intertwining the robot's search for objects and the assignment of found objects to scenes. Our scene model called "Implicit Shape Model (ISM) trees" allows these two tasks to be solved jointly. This article presents novel algorithms for ISM trees to recognize scenes and predict poses of searched objects. We define scenes as object sets in which some objects are connected via 3-D spatial relations. In previous work, we recognized scenes with single ISMs. However, single ISMs are prone to false positives. As a remedy, we have developed ISM trees, a hierarchical model consisting of multiple ISMs. This article contributes a recognition algorithm that now enables the use of ISM trees for scene recognition. ISM trees should be ideally generated from human demonstrations of object arrangements. As a suitable algorithm was not available, we introduce such a generation algorithm. In line with the active vision paradigm, we combined scene recognition and object search in previous work. However, an efficient algorithm was lacking to make this combination effective. Physical experiments show that this is now overcome with a new algorithm achieving efficient combination through predicted object poses.

One of the most catastrophic neurological disorders worldwide is Parkinson's Disease. Along with it, the treatment is complicated and abundantly expensive. The only effective action to control the progression is diagnosing it in the early stage. However, this is challenging because early detection necessitates a large and complex clinical study. This experimental work used Machine Learning techniques to automate the early detection of Parkinson's Disease from clinical characteristics, voice features and motor examination. In this study, we develop ML models utilizing a public dataset of 130 individuals, 30 of whom are untreated Parkinson's Disease patients, 50 of whom are Rapid Eye Movement Sleep Behaviour Disorder patients who are at a greater risk of contracting Parkinson's Disease, and 50 of whom are Healthy Controls. We use MinMax Scaler to rescale the data points, Local Outlier Factor to remove outliers, and SMOTE to balance existing class frequency. Afterwards, apply a number of Machine Learning techniques. We implement the approaches in such a way that data leaking and overfitting are not possible. Finally, obtained 100% accuracy in classifying PD and RBD patients, as well as 92% accuracy in classifying PD and HC individuals.

Federated Learning (FL) is a promising distributed learning approach that enables multiple clients to collaboratively train a shared global model. However, recent studies show that FL is vulnerable to various poisoning attacks, which can degrade the performance of global models or introduce backdoors into them. In this paper, we first conduct a comprehensive study on prior FL attacks and detection methods. The results show that all existing detection methods are only effective against limited and specific attacks. Most detection methods suffer from high false positives, which lead to significant performance degradation, especially in not independent and identically distributed (non-IID) settings. To address these issues, we propose FLTracer, the first FL attack provenance framework to accurately detect various attacks and trace the attack time, objective, type, and poisoned location of updates. Different from existing methodologies that rely solely on cross-client anomaly detection, we propose a Kalman filter-based cross-round detection to identify adversaries by seeking the behavior changes before and after the attack. Thus, this makes it resilient to data heterogeneity and is effective even in non-IID settings. To further improve the accuracy of our detection method, we employ four novel features and capture their anomalies with the joint decisions. Extensive evaluations show that FLTracer achieves an average true positive rate of over $96.88\%$ at an average false positive rate of less than $2.67\%$, significantly outperforming SOTA detection methods. \footnote{Code is available at \url{https://github.com/Eyr3/FLTracer}.}

When domain knowledge is limited and experimentation is restricted by ethical, financial, or time constraints, practitioners turn to observational causal discovery methods to recover the causal structure, exploiting the statistical properties of their data. Because causal discovery without further assumptions is an ill-posed problem, each algorithm comes with its own set of usually untestable assumptions, some of which are hard to meet in real datasets. Motivated by these considerations, this paper extensively benchmarks the empirical performance of recent causal discovery methods on observational iid data generated under different background conditions, allowing for violations of the critical assumptions required by each selected approach. Our experimental findings show that score matching-based methods demonstrate surprising performance in the false positive and false negative rate of the inferred graph in these challenging scenarios, and we provide theoretical insights into their performance. This work is also the first effort to benchmark the stability of causal discovery algorithms with respect to the values of their hyperparameters. Finally, we hope this paper will set a new standard for the evaluation of causal discovery methods and can serve as an accessible entry point for practitioners interested in the field, highlighting the empirical implications of different algorithm choices.

Rapid and accurate identification of Venous thromboembolism (VTE), a severe cardiovascular condition including deep vein thrombosis (DVT) and pulmonary embolism (PE), is important for effective treatment. Leveraging Natural Language Processing (NLP) on radiology reports, automated methods have shown promising advancements in identifying VTE events from retrospective data cohorts or aiding clinical experts in identifying VTE events from radiology reports. However, effectively training Deep Learning (DL) and the NLP models is challenging due to limited labeled medical text data, the complexity and heterogeneity of radiology reports, and data imbalance. This study proposes novel method combinations of DL methods, along with data augmentation, adaptive pre-trained NLP model selection, and a clinical expert NLP rule-based classifier, to improve the accuracy of VTE identification in unstructured (free-text) radiology reports. Our experimental results demonstrate the model's efficacy, achieving an impressive 97\% accuracy and 97\% F1 score in predicting DVT, and an outstanding 98.3\% accuracy and 98.4\% F1 score in predicting PE. These findings emphasize the model's robustness and its potential to significantly contribute to VTE research.

Scientific imaging problems are often severely ill-posed, and hence have significant intrinsic uncertainty. Accurately quantifying the uncertainty in the solutions to such problems is therefore critical for the rigorous interpretation of experimental results as well as for reliably using the reconstructed images as scientific evidence. Unfortunately, existing imaging methods are unable to quantify the uncertainty in the reconstructed images in a manner that is robust to experiment replications. This paper presents a new uncertainty quantification methodology based on an equivariant formulation of the parametric bootstrap algorithm that leverages symmetries and invariance properties commonly encountered in imaging problems. Additionally, the proposed methodology is general and can be easily applied with any image reconstruction technique, including unsupervised training strategies that can be trained from observed data alone, thus enabling uncertainty quantification in situations where there is no ground truth data available. We demonstrate the proposed approach with a series of numerical experiments and through comparisons with alternative uncertainty quantification strategies from the state-of-the-art, such as Bayesian strategies involving score-based diffusion models and Langevin samplers. In all our experiments, the proposed method delivers remarkably accurate high-dimensional confidence regions and outperforms the competing approaches in terms of estimation accuracy, uncertainty quantification accuracy, and computing time.

The impressive generalization performance of modern neural networks is attributed in part to their ability to implicitly memorize complex training patterns. Inspired by this, we explore a novel mechanism to improve model generalization via explicit memorization. Specifically, we propose the residual-memorization (ResMem) algorithm, a new method that augments an existing prediction model (e.g., a neural network) by fitting the model's residuals with a k-nearest neighbor based regressor. The final prediction is then the sum of the original model and the fitted residual regressor. By construction, ResMem can explicitly memorize the training labels, even when the base model has low capacity. We start by formulating a stylized linear regression problem and rigorously show that ResMem results in a more favorable test risk over a base linear neural network. Then, we empirically show that ResMem consistently improves the test set generalization of the original prediction model across standard vision and natural language processing benchmarks.

The combination of Deep Learning techniques and Raman spectroscopy shows great potential offering precise and prompt identification of pathogenic bacteria in clinical settings. However, the traditional closed-set classification approaches assume that all test samples belong to one of the known pathogens, and their applicability is limited since the clinical environment is inherently unpredictable and dynamic, unknown or emerging pathogens may not be included in the available catalogs. We demonstrate that the current state-of-the-art Neural Networks identifying pathogens through Raman spectra are vulnerable to unknown inputs, resulting in an uncontrollable false positive rate. To address this issue, first, we developed a novel ensemble of ResNet architectures combined with the attention mechanism which outperforms existing closed-world methods, achieving an accuracy of $87.8 \pm 0.1\%$ compared to the best available model's accuracy of $86.7 \pm 0.4\%$. Second, through the integration of feature regularization by the Objectosphere loss function, our model achieves both high accuracy in identifying known pathogens from the catalog and effectively separates unknown samples drastically reducing the false positive rate. Finally, the proposed feature regularization method during training significantly enhances the performance of out-of-distribution detectors during the inference phase improving the reliability of the detection of unknown classes. Our novel algorithm for Raman spectroscopy enables the detection of unknown, uncatalogued, and emerging pathogens providing the flexibility to adapt to future pathogens that may emerge, and has the potential to improve the reliability of Raman-based solutions in dynamic operating environments where accuracy is critical, such as public safety applications.

The classification of weather data involves categorizing meteorological phenomena into classes, thereby facilitating nuanced analyses and precise predictions for various sectors such as agriculture, aviation, and disaster management. This involves utilizing machine learning models to analyze large, multidimensional weather datasets for patterns and trends. These datasets may include variables such as temperature, humidity, wind speed, and pressure, contributing to meteorological conditions. Furthermore, it's imperative that classification algorithms proficiently navigate challenges such as data imbalances, where certain weather events (e.g., storms or extreme temperatures) might be underrepresented. This empirical study explores data augmentation methods to address imbalanced classes in tabular weather data in centralized and federated settings. Employing data augmentation techniques such as the Synthetic Minority Over-sampling Technique or Generative Adversarial Networks can improve the model's accuracy in classifying rare but critical weather events. Moreover, with advancements in federated learning, machine learning models can be trained across decentralized databases, ensuring privacy and data integrity while mitigating the need for centralized data storage and processing. Thus, the classification of weather data stands as a critical bridge, linking raw meteorological data to actionable insights, enhancing our capacity to anticipate and prepare for diverse weather conditions.

Brain tumors are increasingly prevalent, characterized by the uncontrolled spread of aberrant tissues in the brain, with almost 700,000 new cases diagnosed globally each year. Magnetic Resonance Imaging (MRI) is commonly used for the diagnosis of brain tumors and accurate classification is a critical clinical procedure. In this study, we propose an efficient solution for classifying brain tumors from MRI images using custom transfer learning networks. While several researchers have employed various pre-trained architectures such as RESNET-50, ALEXNET, VGG-16, and VGG-19, these methods often suffer from high computational complexity. To address this issue, we present a custom and lightweight model using a Convolutional Neural Network-based pre-trained architecture with reduced complexity. Specifically, we employ the VGG-19 architecture with additional hidden layers, which reduces the complexity of the base architecture but improves computational efficiency. The objective is to achieve high classification accuracy using a novel approach. Finally, the result demonstrates a classification accuracy of 96.42%.