The ability to detect slip, particularly incipient slip, enables robotic systems to take corrective measures to prevent a grasped object from being dropped. Therefore, slip detection can enhance the overall security of robotic gripping. However, accurately detecting incipient slip remains a significant challenge. In this paper, we propose a novel learning-based approach to detect incipient slip using the PapillArray (Contactile, Australia) tactile sensor. The resulting model is highly effective in identifying patterns associated with incipient slip, achieving a detection success rate of 95.6% when tested with an offline dataset. Furthermore, we introduce several data augmentation methods to enhance the robustness of our model. When transferring the trained model to a robotic gripping environment distinct from where the training data was collected, our model maintained robust performance, with a success rate of 96.8%, providing timely feedback for stabilizing several practical gripping tasks. Our project website: https://sites.google.com/view/incipient-slip-detection.

Graph Neural Networks (GNNs) have become increasingly important due to their representational power and state-of-the-art predictive performance on many fundamental learning tasks. Despite this success, GNNs suffer from fairness issues that arise as a result of the underlying graph data and the fundamental aggregation mechanism that lies at the heart of the large class of GNN models. In this article, we examine and categorize fairness techniques for improving the fairness of GNNs. Previous work on fair GNN models and techniques are discussed in terms of whether they focus on improving fairness during a preprocessing step, during training, or in a post-processing phase. Furthermore, we discuss how such techniques can be used together whenever appropriate, and highlight the advantages and intuition as well. We also introduce an intuitive taxonomy for fairness evaluation metrics including graph-level fairness, neighborhood-level fairness, embedding-level fairness, and prediction-level fairness metrics. In addition, graph datasets that are useful for benchmarking the fairness of GNN models are summarized succinctly. Finally, we highlight key open problems and challenges that remain to be addressed.

In this study, we explore how Deep Q-Network (DQN) might improve the functionality of multiclass classification algorithms. We will use a benchmark dataset from Kaggle to create a framework incorporating DQN with existing supervised multiclass classification algorithms. The findings of this study will bring insight into how deep reinforcement learning strategies may be used to increase multiclass classification accuracy. They have been used in a number of fields, including image recognition, natural language processing, and bioinformatics. This study is focused on the prediction of financial distress in companies in addition to the wider application of Deep Q-Network in multiclass classification. Identifying businesses that are likely to experience financial distress is a crucial task in the fields of finance and risk management. Whenever a business experiences serious challenges keeping its operations going and meeting its financial responsibilities, it is said to be in financial distress. It commonly happens when a company has a sharp and sustained recession in profitability, cash flow issues, or an unsustainable level of debt.

This paper presents a novel visual-LiDAR odometry and mapping method with low-drift characteristics. The proposed method is based on two popular approaches, ORB-SLAM and A-LOAM, with monocular scale correction and visual-bootstrapped LiDAR poses initialization modifications. The scale corrector calculates the proportion between the depth of image keypoints recovered by triangulation and that provided by LiDAR, using an outlier rejection process for accuracy improvement. Concerning LiDAR poses initialization, the visual odometry approach gives the initial guesses of LiDAR motions for better performance. This methodology is not only applicable to high-resolution LiDAR but can also adapt to low-resolution LiDAR. To evaluate the proposed SLAM system's robustness and accuracy, we conducted experiments on the KITTI Odometry and S3E datasets. Experimental results illustrate that our method significantly outperforms standalone ORB-SLAM2 and A-LOAM. Furthermore, regarding the accuracy of visual odometry with scale correction, our method performs similarly to the stereo-mode ORB-SLAM2.

The potential of artificial intelligence (AI) in digital pathology is limited by technical inconsistencies in the production of whole slide images (WSIs), leading to degraded AI performance and posing a challenge for widespread clinical application as fine-tuning algorithms for each new site is impractical. Changes in the imaging workflow can also lead to compromised diagnoses and patient safety risks. We evaluated whether physical color calibration of scanners can standardize WSI appearance and enable robust AI performance. We employed a color calibration slide in four different laboratories and evaluated its impact on the performance of an AI system for prostate cancer diagnosis on 1,161 WSIs. Color standardization resulted in consistently improved AI model calibration and significant improvements in Gleason grading performance. The study demonstrates that physical color calibration provides a potential solution to the variation introduced by different scanners, making AI-based cancer diagnostics more reliable and applicable in clinical settings.

Autonomous robotic systems have gained a lot of attention, in recent years. However, accurate prediction of robot motion in indoor environments with limited visibility is challenging. While vision-based and light detection and ranging (LiDAR) sensors are commonly used for motion detection and localization of robotic arms, they are privacy-invasive and depend on a clear line-of-sight (LOS) for precise measurements. In cases where additional sensors are not available or LOS is not possible, these technologies may not be the best option. This paper proposes a novel method that employs channel state information (CSI) from WiFi signals affected by robotic arm motion. We developed a convolutional neural network (CNN) model to classify four different activities of a Franka Emika robotic arm. The implemented method seeks to accurately predict robot motion even in scenarios in which the robot is obscured by obstacles, without relying on any attached or internal sensors.

The basic goal of privacy-preserving machine learning is to find models that are predictive on some underlying data distribution, without being disclosive of the particular data points on which they were trained. The simplest kind of attack that can be launched on a trained model--falsifying privacy guarantees--is a membership inference attack. A membership inference attack, informally, is a statistical test that is able to reliably determine whether a particular data point was included in the training set used to train the model or not. Almost all membership inference attacks are based on the observation that models tend to overfit their training sets in different ways. In particular, they tend to systematically predict higher confidence in the true labels of data points from their training set, compared to points drawn from the same distribution not in their training set. The confidence that a model places on the true label of a data-point is thus a natural test statistic to build a membership-inference hypothesis test around. A variety of recent methods [Shokri et al., 2017, Long et al., 2020, Sablayrolles et al., 2019, Song and Mittal, 2021, Carlini et al., 2022] are based around this idea, and aim to estimate the distribution of the test statistic (the confidence assigned to the true label of a datapoint) over the distribution of datapoints that were not used in training (and sometimes, Martin and Shuai are lead authors; all other authors are listed in alphabetical order.

Time pressure and topic negotiation may impose constraints on how people leverage discourse relations (DRs) in spontaneous conversational contexts. In this work, we adapt a system of DRs for written language to spontaneous dialogue using crowdsourced annotations from novice annotators. We then test whether discourse relations are used differently across several types of multi-utterance contexts. We compare the patterns of DR annotation within and across speakers and within and across turns. Ultimately, we find that different discourse contexts produce distinct distributions of discourse relations, with single-turn annotations creating the most uncertainty for annotators. Additionally, we find that the discourse relation annotations are of sufficient quality to predict from embeddings of discourse units.

Language model based methods are powerful techniques for text classification. However, the models have several shortcomings. In this paper, we propose Semi-Supervised vMF Neural Topic Modeling (S2vNTM) to overcome these difficulties. S2vNTM takes a few seed keywords as input for topics. S2vNTM leverages the pattern of keywords to identify potential topics, as well as optimize the quality of topics' keywords sets. Across a variety of datasets, S2vNTM outperforms existing semi-supervised topic modeling methods in classification accuracy with limited keywords provided. S2vNTM is at least twice as fast as baselines. Language Model (LM) pre-training Vaswani et al. (2017); Devlin et al. (2018) has proven to be useful in learning universal language representations. Recent language models such as Yang et al. (2019); Sun et al. (2019); Chen et al. (2022); Ding et al. (2021) have achieved amazing results in text classification. Most of these methods need enough high-quality labels to train. To make LM based methods work well when limited labels are available, few shot learning methods such as Bianchi et al. (2021); Meng et al. (2020a;b); Mekala and Shang (2020); Yu et al. (2021); Wang et al. (2021b) have been proposed. However, these methods rely on large pre-trained texts and can be biased to apply to a different environment. Topic modeling methods generate topics based on the pattern of words.

By combining the undecimated wavelet transform within a Word Embedded Semantic Marginal Autoencoder (WESMA), this research study provides a novel strategy for improving security measures and denoising multiple languages. The incorporation of these strategies is intended to address the issues of robustness, privacy, and multilingualism in data processing applications. The undecimated wavelet transform is used as a feature extraction tool to identify prominent language patterns and structural qualities in the input data. The proposed system may successfully capture significant information while preserving the temporal and geographical links within the data by employing this transform. This improves security measures by increasing the system's ability to detect abnormalities, discover hidden patterns, and distinguish between legitimate content and dangerous threats. The Word Embedded Semantic Marginal Autoencoder also functions as an intelligent framework for dimensionality and noise reduction. The autoencoder effectively learns the underlying semantics of the data and reduces noise components by exploiting word embeddings and semantic context. As a result, data quality and accuracy are increased in following processing stages. The suggested methodology is tested using a diversified dataset that includes several languages and security scenarios. The experimental results show that the proposed approach is effective in attaining security enhancement and denoising capabilities across multiple languages. The system is strong in dealing with linguistic variances, producing consistent outcomes regardless of the language used. Furthermore, incorporating the undecimated wavelet transform considerably improves the system's ability to efficiently address complex security concerns