Embodied AI has made significant progress acting in unexplored environments. However, tasks such as object search have largely focused on efficient policy learning. In this work, we identify several gaps in current search methods: They largely focus on dated perception models, neglect temporal aggregation, and transfer from ground truth directly to noisy perception at test time, without accounting for the resulting overconfidence in the perceived state. We address the identified problems through calibrated perception probabilities and uncertainty across aggregation and found decisions, thereby adapting the models for sequential tasks. The resulting methods can be directly integrated with pretrained models across a wide family of existing search approaches at no additional training cost. We perform extensive evaluations of aggregation methods across both different semantic perception models and policies, confirming the importance of calibrated uncertainties in both the aggregation and found decisions. We make the code and trained models available at http://semantic-search.cs.uni-freiburg.de.

Adversarial examples add imperceptible alterations to inputs with the objective to induce misclassification in machine learning models. They have been demonstrated to pose significant challenges in domains like image classification, with results showing that an adversarially perturbed image to evade detection against one classifier is most likely transferable to other classifiers. Adversarial examples have also been studied in malware analysis. Unlike images, program binaries cannot be arbitrarily perturbed without rendering them non-functional. Due to the difficulty of crafting adversarial program binaries, there is no consensus on the transferability of adversarially perturbed programs to different detectors. In this work, we explore the robustness of malware detectors against adversarially perturbed malware. We investigate the transferability of adversarial attacks developed against one detector, against other machine learning-based malware detectors, and code similarity techniques, specifically, locality sensitive hashing-based detectors. Our analysis reveals that adversarial program binaries crafted for one detector are generally less effective against others. We also evaluate an ensemble of detectors and show that they can potentially mitigate the impact of adversarial program binaries. Finally, we demonstrate that substantial program changes made to evade detection may result in the transformation technique being identified, implying that the adversary must make minimal changes to the program binary.

The emoticons are symbolic representations that generally accompany the textual content to visually enhance or summarize the true intention of a written message. Although widely utilized in the realm of social media, the core semantics of these emoticons have not been extensively explored based on multiple modalities. Incorporating textual and visual information within a single message develops an advanced way of conveying information. Hence, this research aims to analyze the relationship among sentences, visuals, and emoticons. For an orderly exposition, this paper initially provides a detailed examination of the various techniques for extracting multimodal features, emphasizing the pros and cons of each method. Through conducting a comprehensive examination of several multimodal algorithms, with specific emphasis on the fusion approaches, we have proposed a novel contrastive learning based multimodal architecture. The proposed model employs the joint training of dual-branch encoder along with the contrastive learning to accurately map text and images into a common latent space. Our key finding is that by integrating the principle of contrastive learning with that of the other two branches yields superior results. The experimental results demonstrate that our suggested methodology surpasses existing multimodal approaches in terms of accuracy and robustness. The proposed model attained an accuracy of 91% and an MCC-score of 90% while assessing emoticons using the Multimodal-Twitter Emoticon dataset acquired from Twitter. We provide evidence that deep features acquired by contrastive learning are more efficient, suggesting that the proposed fusion technique also possesses strong generalisation capabilities for recognising emoticons across several modes.

Developing accurate hand gesture perception models is critical for various robotic applications, enabling effective communication between humans and machines and directly impacting neurorobotics and interactive robots. Recently, surface electromyography (sEMG) has been explored for its rich informational context and accessibility when combined with advanced machine learning approaches and wearable systems. The literature presents numerous approaches to boost performance while ensuring robustness for neurorobots using sEMG, often resulting in models requiring high processing power, large datasets, and less scalable solutions. This paper addresses this challenge by proposing the decoding of muscle synchronization rather than individual muscle activation. We study coherence-based functional muscle networks as the core of our perception model, proposing that functional synchronization between muscles and the graph-based network of muscle connectivity encode contextual information about intended hand gestures. This can be decoded using shallow machine learning approaches without the need for deep temporal networks. Our technique could impact myoelectric control of neurorobots by reducing computational burdens and enhancing efficiency. The approach is benchmarked on the Ninapro database, which contains 12 EMG signals from 40 subjects performing 17 hand gestures. It achieves an accuracy of 85.1%, demonstrating improved performance compared to existing methods while requiring much less computational power. The results support the hypothesis that a coherence-based functional muscle network encodes critical information related to gesture execution, significantly enhancing hand gesture perception with potential applications for neurorobotic systems and interactive machines.

Though pre-trained encoders can be easily accessed online to build downstream machine learning (ML) services quickly, various attacks have been designed to compromise the security and privacy of these encoders. While most attacks target encoders on the upstream side, it remains unknown how an encoder could be threatened when deployed in a downstream ML service. This paper unveils a new vulnerability: the Pre-trained Encoder Inference (PEI) attack, which posts privacy threats toward encoders hidden behind downstream ML services. By only providing API accesses to a targeted downstream service and a set of candidate encoders, the PEI attack can infer which encoder is secretly used by the targeted service based on candidate ones. We evaluate the attack performance of PEI against real-world encoders on three downstream tasks: image classification, text classification, and text-to-image generation. Experiments show that the PEI attack succeeds in revealing the hidden encoder in most cases and seldom makes mistakes even when the hidden encoder is not in the candidate set. We also conducted a case study on one of the most recent vision-language models, LLaVA, to illustrate that the PEI attack is useful in assisting other ML attacks such as adversarial attacks. The code is available at https://github.com/fshp971/encoder-inference.

Alterations in Heart Rate (HR) and Heart Rate Variability (HRV) can reflect autonomic dysfunction associated with neurodegeneration. We investigate the influence of Mild Cognitive Impairment (MCI) on HR and its variability measures in the Indian population by designing a complete signal processing pipeline to detect the R-wave peaks and compute HR and HRV features from ECG recordings of 10 seconds, for point-of-care applications. The study cohort involves 297 urban participants, among which 48.48% are male and 51.51% are female. From the Addenbrooke's Cognitive Examination-III (ACE-III), MCI is detected in 19.19% of participants and the rest, 80.8% of them are cognitively healthy. Statistical features like central tendency (mean and root mean square (RMS) of the Normal-to-Normal (NN) intervals) and dispersion (standard deviation (SD) of all NN intervals (SDNN) and root mean square of successive differences of NN intervals (RMSSD)) of beat-to-beat intervals are computed. The Wilcoxon rank sum test reveals that mean of NN intervals (p = 0.0021), the RMS of NN intervals (p = 0.0014), the SDNN (p = 0.0192) and the RMSSD (p = 0.0206) values differ significantly between MCI and non-MCI classes, for a level of significance, 0.05. Machine learning classifiers like, Support Vector Machine (SVM), Discriminant Analysis (DA) and Naive Bayes (NB) driven by mean NN intervals, RMS, SDNN and RMSSD, show a high accuracy of 80.80% on each individual feature input. Individuals with MCI are observed to have comparatively higher HR than healthy subjects. HR and its variability can be considered as potential biomarkers for detecting MCI.

Artificial intelligence (AI) methods are being used increasingly for the automated segmentation of cine cardiac magnetic resonance (CMR) imaging. However, these methods have been shown to be subject to race bias, i.e. they exhibit different levels of performance for different races depending on the (im)balance of the data used to train the AI model. In this paper we investigate the source of this bias, seeking to understand its root cause(s) so that it can be effectively mitigated. We perform a series of classification and segmentation experiments on short-axis cine CMR images acquired from Black and White subjects from the UK Biobank and apply AI interpretability methods to understand the results. In the classification experiments, we found that race can be predicted with high accuracy from the images alone, but less accurately from ground truth segmentations, suggesting that the distributional shift between races, which is often the cause of AI bias, is mostly image-based rather than segmentation-based. The interpretability methods showed that most attention in the classification models was focused on non-heart regions, such as subcutaneous fat. Cropping the images tightly around the heart reduced classification accuracy to around chance level. Similarly, race can be predicted from the latent representations of a biased segmentation model, suggesting that race information is encoded in the model. Cropping images tightly around the heart reduced but did not eliminate segmentation bias. We also investigate the influence of possible confounders on the bias observed.

Automated Machine Learning (AutoML) significantly simplifies the deployment of machine learning models by automating tasks from data preprocessing to model selection to ensembling. AutoML systems for tabular data often employ post hoc ensembling, where multiple models are combined to improve predictive accuracy. This typically results in longer inference times, a major limitation in practical deployments. Addressing this, we introduce a hardware-aware ensemble selection approach that integrates inference time into post hoc ensembling. By leveraging an existing framework for ensemble selection with quality diversity optimization, our method evaluates ensemble candidates for their predictive accuracy and hardware efficiency. This dual focus allows for a balanced consideration of accuracy and operational efficiency. Thus, our approach enables practitioners to choose from a Pareto front of accurate and efficient ensembles. Our evaluation using 83 classification datasets shows that our approach sustains competitive accuracy and can significantly improve ensembles' operational efficiency. The results of this study provide a foundation for extending these principles to additional hardware constraints, setting the stage for the development of more resource-efficient AutoML systems.

Tornadoes are among the most intense atmospheric vortex phenomena and pose significant challenges for detection and forecasting. Conventional methods, which heavily depend on ground-based observations and radar data, are limited by issues such as decreased accuracy over greater distances and a high rate of false positives. To address these challenges, this study utilizes the Seamless Hybrid Scan Reflectivity (SHSR) dataset from the Multi-Radar Multi-Sensor (MRMS) system, which integrates data from multiple radar sources to enhance accuracy. A novel hybrid model, the Kalman-Convolutional BiLSTM with Multi-Head Attention, is introduced to improve dynamic state estimation and capture both spatial and temporal dependencies within the data. This model demonstrates superior performance in precision, recall, F1-Score, and accuracy compared to methods such as K-Nearest Neighbors (KNN) and LightGBM. The results highlight the considerable potential of advanced machine learning techniques to improve tornado prediction and reduce false alarm rates. Future research will focus on expanding datasets, exploring innovative model architectures, and incorporating large language models (LLMs) to provide deeper insights. This research introduces a novel model for tornado prediction, offering a robust framework for enhancing forecasting accuracy and public safety.

With the rise of large language models (LLMs), researchers are increasingly exploring their applications in var ious vertical domains, such as software engineering. LLMs have achieved remarkable success in areas including code generation and vulnerability detection. However, they also exhibit numerous limitations and shortcomings. LLM-based agents, a novel tech nology with the potential for Artificial General Intelligence (AGI), combine LLMs as the core for decision-making and action-taking, addressing some of the inherent limitations of LLMs such as lack of autonomy and self-improvement. Despite numerous studies and surveys exploring the possibility of using LLMs in software engineering, it lacks a clear distinction between LLMs and LLM based agents. It is still in its early stage for a unified standard and benchmarking to qualify an LLM solution as an LLM-based agent in its domain. In this survey, we broadly investigate the current practice and solutions for LLMs and LLM-based agents for software engineering. In particular we summarise six key topics: requirement engineering, code generation, autonomous decision-making, software design, test generation, and software maintenance. We review and differentiate the work of LLMs and LLM-based agents from these six topics, examining their differences and similarities in tasks, benchmarks, and evaluation metrics. Finally, we discuss the models and benchmarks used, providing a comprehensive analysis of their applications and effectiveness in software engineering. We anticipate this work will shed some lights on pushing the boundaries of LLM-based agents in software engineering for future research.